六足探索机器人的自主运动系统

2009 Third IEEE International Conference on Space Mission Challenges for Information Technology Pub Date : 2009-07-19 DOI:10.1109/SMC-IT.2009.25

Pablo Muñoz-Martínez, M. R-Moreno, J. Gómez-Elvira, J. Romeral-Planello, Sara Navarro-Lopez

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引用次数: 1

摘要

Ptinto是一个六足机器人，设计用于在西班牙韦尔瓦的Tinto河勘探期间在岩石和笨重的区域移动时保持平衡。我们开发了一个名为PIPSS的综合计划和调度系统来控制P-Tinto机器人的运动。PIPSS试图为腿做出更好的动作，以保持正确的平衡，并计算两点之间的轨迹。它与执行计划的执行系统交换信息，如果有一些Ptinto无法避免的障碍，它将重新计算新的轨迹。

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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An Autonomous System for the Locomotion of a Hexapod Exploration Robot

Ptinto is a hexapod robot designed to keep the equilibrium when moving around rocky and cumbersome areas during the exploration of the Tinto river in Huelva (Spain). We have developed an integrated planning and scheduling system called PIPSS to control the locomotion of the P-Tinto robot. PIPSS tries to make the better moves for the legs in order to keep the right balance and calculate the trajectory between two points. It exchanges information with an executor system that execute the plan, and in case there are some obstacles that Ptinto cannot avoid, a new trajectory will be re-calculated.

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2009 Third IEEE International Conference on Space Mission Challenges for Information Technology

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