Coordinated intelligent adaptive control of legged robots

被引：1

作者：

McLauchlan, Lifford ^{[1
]}

Mehrubeoglu, Mehrube ^{[2
]}

机构：

[1] Texas A&M Univ, Dept Elect Engn & Comp Sci, MSC 192,700 Univ Blvd, Kingsville, TX 78363 USA

[2] Texas A&M Univ, Dept CAMS, Engn Technol, Corpus Christi, TX 78412 USA

来源：

UNMANNED SYSTEMS TECHNOLOGY VIII, PTS 1 AND 2 | 2006年 / 6230卷

关键词：

robotics; intelligent control; adaptive control; motion planning;

D O I：

10.1117/12.666489

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In planetary or hazardous environment exploration, there will be unforseen environmental circumstances which can not be planned. To overcome telerobotic control issues due to communication delays, autonomous robot control becomes necessary. Autonomously controlled landers and instrumentation can be used in exploration, such as lunar and martian missions. However, wheeled robots have difficulty in exploring uneven terrain; thus, legged robots can be used in such situations. This research develops intelligent and adaptive control of mobile robots to perform functions such as environmental exploration in coordination and obstacle avoidance. The coordinated control is demonstrated in simulations.

引用

页数：10

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