Locomotion Control of PhantomX Hexapod Robot with Touch-Pressure Sensor and RoboComp

2020 IEEE Colombian Conference on Applications of Computational Intelligence (IEEE ColCACI 2020) Pub Date : 2020-08-07 DOI:10.1109/ColCACI50549.2020.9247874

John Euler Chamorro Fuertes, Jairo Jose Marin Arciniegas, Pablo Bustos García de Castro, Oscar Andrés Vivas Albán

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引用次数: 1

Abstract

The present paper was developed in order to show the feasibility of using touch-pressure sensors and RoboComp framework, in the PhantomX hexapod robot, so that it can develop displacement. Previously, the robot included some complementary tools to its default version, so that it can develop two types of gait: regular and adaptive. A comparison of results was developed between two types of gates based on the calculation of joints angles from the kinematic model of the robot. For the adaptive gait, a stabilization system was developed with the use of touch-pressure sensors to locate the support points on which the robot’s legs can be kept stable. The results show that the robot can perform movements in a satisfactory way, although a small difference is generated between the trajectories sent and trajectories executed due to the use of some tools and software, this does not prevent good performance in locomotion.

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基于触摸压力传感器和RoboComp的PhantomX六足机器人运动控制

本论文的开发是为了展示在PhantomX六足机器人中使用触摸压力传感器和RoboComp框架的可行性，从而使其能够发展位移。此前，该机器人在其默认版本的基础上加入了一些补充工具，这样它就可以发展出两种步态:常规和自适应。根据机器人的运动学模型计算关节角度，对两种浇口进行了结果比较。对于自适应步态，开发了一种稳定系统，使用触摸压力传感器来定位机器人腿可以保持稳定的支撑点。结果表明，尽管由于使用了一些工具和软件，机器人发送的轨迹和执行的轨迹之间产生了很小的差异，但这并不妨碍机器人良好的运动性能。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

2020 IEEE Colombian Conference on Applications of Computational Intelligence (IEEE ColCACI 2020)

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