凤凰六足机器人的漫射逻辑平衡控制

2017 13th International Conference on Natural Computation, Fuzzy Systems and Knowledge Discovery (ICNC-FSKD) Pub Date : 2017-07-29 DOI:10.1109/FSKD.2017.8392947

D. Alulema, Cristian Andino, Diego Rodriguez, V. Proano, Alexander Ibarra, D. Morocho, Freddy Tapia, Veronica Alulema

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引用次数: 2

摘要

采用漫射控制算法，建立了六足机器人的六肢位置控制。作为控制器的输入，使用了一个LIS3DSH加速度计，它给出加速度计倾斜角度的Roll值，这是Discovery STM32F4卡的典型特征。为了减少机器人在静止状态下的误差，使机器人稳定在零度倾斜位置，使六足机器人能够在不同的表面上自动站立和平衡，有必要建立一个PI控制器。

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Balance control by diffuse logic for a phoenix hexapod robot

Using diffuse control algorithms, a position control for the six extremities of the Hexapod Robot was built. As input to the controller, a LIS3DSH accelerometer was used, which gives the Roll values for the angle in which the accelerometer tilts, typical of the Discovery STM32F4 card. It was necessary to build a PI controller in order to reduce the error in stationary state and stabilize the robot in a zero degree tilt position, allowing the Hexapod robot to stand and balance automatically over different surfaces.

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2017 13th International Conference on Natural Computation, Fuzzy Systems and Knowledge Discovery (ICNC-FSKD)

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