Hamlet: Force/position controlled hexapod walker - Design and systems

被引：17

作者：

Fielding, MR ^{[1
]}

Dunlop, R ^{[1
]}

Damaren, CJ ^{[1
]}

机构：

[1] Univ Canterbury, Dept Mech Engn, Christchurch 8005, New Zealand

来源：

PROCEEDINGS OF THE 2001 IEEE INTERNATIONAL CONFERENCE ON CONTROL APPLICATIONS (CCA'01) | 2001年

关键词：

position-based compliance control; walking hexapod robot; gait generation;

D O I：

10.1109/CCA.2001.973998

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Hamlet is a hexapod walker constructed at the University of Canterbury, New Zealand, to test the effectiveness of combined force and position control to achieve robust, adaptable walking over rough and unknown environments. In particular the authors propose that compliance behaviours using the horizontal force measured at the feet will allow the robot to navigate slippery and dynamic surfaces such as gravel and rocks that move under contact with the feet. A soft, biologically motivated, gait generator will be employed for maximum capability. The robot and its systems are described, and the position-based compliance control strategy used is elaborated on.

引用

页码：984 / 989

页数：4

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