Force controlled hexapod walking

De Silva, Shalutha (2014) Force controlled hexapod walking. PhD thesis, Queensland University of Technology.


This thesis is a study on controlling methods for six-legged robots. The study is based on mathematical modeling and simulation. A new joint controller is proposed and tested in simulation that uses joint angles and leg reaction force as inputs to generate a torque, and a method to optimise this controller is formulated and validated. Simulation shows that hexapod can walk on flat ground based on PID controllers with just four target configurations and a set of leg coordination rules, which provided the basis for the design of the new controller.

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203 since deposited on 17 Dec 2014
68 in the past twelve months

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ID Code: 78978
Item Type: QUT Thesis (PhD)
Supervisor: Sitte, Joaquin & Maire, Frederic
Keywords: Hexapod walking, PID controller based walking, Robot walking, Machine walking, Force sensors, Evolutionary algorithms, Neural network based walking, Local Cluster Neural Networks (LCNN), Artificial neural networks, Function approximation
Divisions: Current > Schools > School of Electrical Engineering & Computer Science
Current > QUT Faculties and Divisions > Science & Engineering Faculty
Institution: Queensland University of Technology
Deposited On: 17 Dec 2014 02:46
Last Modified: 08 Sep 2015 06:52

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