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Force controlled hexapod walking

De Silva, Shalutha & Sitte, Joaquin (2012) Force controlled hexapod walking. In Rückert, Ulrich, Sitte, Joaquin, & Werner, Felix (Eds.) Advances in Autonomous Mini Robots, Springer Heidelberg, University of Bielefeld, Germany, pp. 265-277.

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Abstract

In this paper we describe the dynamic simulation of an 18 degrees of freedom hexapod robot with the objective of developing control algorithms for smooth, efficient and robust walking in irregular terrain. This is to be achieved by using force sensors in addition to the conventional joint angle sensors as proprioceptors. The reaction forces on the feet of the robot provide the necessary information on the robots interaction with the terrain. As a first step we validate the simulator by implementing movement control by joint torques using PID controllers. As an unexpected by-product we find that it is simple to achieve robust walking behaviour on even terrain for a hexapod with the help of PID controllers and by specifying a trajectory of only a few joint configurations.

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ID Code: 49916
Item Type: Conference Paper
Additional URLs:
Keywords: Robot walking, PID controllers, Hexapod robot, Dynamic simulation, Force control
DOI: 10.1007/978-3-642-27482-4_25
ISBN: 9783642274817
Subjects: Australian and New Zealand Standard Research Classification > INFORMATION AND COMPUTING SCIENCES (080000) > ARTIFICIAL INTELLIGENCE AND IMAGE PROCESSING (080100)
Divisions: Current > Schools > School of Electrical Engineering & Computer Science
Current > QUT Faculties and Divisions > Science & Engineering Faculty
Deposited On: 30 Apr 2012 13:42
Last Modified: 13 Jun 2013 00:44

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