Keynote talk 1: Mechanism design and real time control of parallel-parallel 6-legged robots

Research on the walking robots has been one of key topics in robotics for a long time. In recent years, many legged robots were developed in the world, which of them achieved great progress and received much attention from the robotic field. For the control of legged robots, one of the most important challenging issues is the human robot Interaction for the real-time control of the legged robots. This speech will introduce our research on both mechanism design and real time control for the parallel-parallel 6-legged robots related to the human robot Interaction, which include the following issues: design process of type synthesis for legged robots by GF set theory, real-time operating system for legged robots, hexapod robot driven by motors: with 3km/h speed., hexapod robot walking on sandy slope, hexapod robot with 500kg payload, hexapod robot with safe riding capability, walking based on force sensing without force sensors., dynamic gait based on active compliant approach, reflection by human-robot interaction based on force sensing, control of 6-legged robots based on vision, obstacle avoidance with both vision and F/T sensor, escaping based on virtual obstacle memory, obstacle crossing based on vision, step climbing based on vision, walking upstairs by vision & downstairs by terrain memory, human-robot interactive assembly based on F/T sensor, manufacturing based on F/T sensor, locked door opening based on F/T sensor for legged robots, and so on.