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.
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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|Item Type:||Conference Paper|
|Keywords:||Robot walking, PID controllers, Hexapod robot, Dynamic simulation, Force control|
|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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