独立式半固定步态六足步行机器人的地形跟随控制

EEE International Workshop on Intelligent Robots and Systems, Towards a New Frontier of Applications Pub Date : 1990-07-03 DOI:10.1109/IROS.1990.262406

N. Koyachi, H. Adachi, Tatsuya Nakamura, E. Nakano

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引用次数: 12

摘要

提出了一种半固定步态六足步行机MELCRAB-2的地形跟随控制算法。MELCRAB-2使用腿部机构的解耦自由进行身体推进运动和地形适应运动。该机构简化了行走机在崎岖地形上的驱动和控制。描述了腿机构的几何结构，并对其逆运动学进行了解析求解。介绍了一种跟踪地形和调整身体高度的算法

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Terrain following control of self-contained semi-fixed gait hexapod walking robot

The paper provides a control algorithm for terrain following of the self-contained semi-fixed gait hexapod walking machine MELCRAB-2. MELCRAB-2 uses decoupled freedoms of the leg mechanism for the body-propelling motion and the terrain-adapting motion. The mechanism simplifies the drive and control of the walking machine over rough terrain. The geometry of the leg mechanism is described, and its inverse kinematics is solved analytically. An algorithm for following the terrain and adjusting the body altitude is introduced.<>

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EEE International Workshop on Intelligent Robots and Systems, Towards a New Frontier of Applications

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