六足机器人智能运动控制体系

2018 15th International Joint Conference on Computer Science and Software Engineering (JCSSE) Pub Date : 2018-07-01 DOI:10.1109/JCSSE.2018.8457382

Ananchai Konthong, Anavat Monprajuck, Rashrita Rattanavorragant, Y. Jewajinda

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引用次数: 4

摘要

提出了一种六足机器人的智能运动控制体系结构。该结构利用CPG-网络、扭矩传感和径向基神经网络，使六足机器人具有感知不同地形和调整步态的能力。该体系结构适用于车载小型六足机器人的嵌入式系统实现。通过实际机器人实验验证了所提出的智能控制体系结构的有效性。

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An Intelligent Locomotion Control Architecture for Hexapod Robot

This paper presents an intelligent locomotion control architecture for a hexapod robot. The proposed architecture provides a hexapod robot abilities to perceive different terrains and adjust gait accordingly by utilizing CPG- network, torque sensing, and radial basis function neural network. The architecture is suitable for implementing in an embedded system for on-board small hexapod robots. The effectiveness of the proposed intelligent control architecture is demonstrated through real robot experiments.

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来源期刊

2018 15th International Joint Conference on Computer Science and Software Engineering (JCSSE)

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