Developing and Implementation of the Walking Robot Control System

被引：6

作者：

Chwila, Sebastian ^{[1
]}

Zawiski, Radoslaw ^{[1
]}

Babiarz, Artur ^{[1
]}

机构：

[1] Silesian Tech Univ, Inst Automat Control, PL-44100 Gliwice, Poland

来源：

MAN-MACHINE INTERACTIONS 3 | 2014年 / 242卷

关键词：

walking robot; position stabilization; robot control system;

D O I：

10.1007/978-3-319-02309-0_10

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

The article presents the walking robot control system project. A ROBONOVA-I robot is used as a base mechanics and servo research platform. The possibilities of this platform allow to control the robot's limbs with 16 degrees of freedom. Designed control system supports force sensors and three-axis gyroscope with triaxial accelerometer, all in one ADIS16360 system by Analog Device. A PC software is made, which allows to test the pre-developed algorithms. User is able to wirelessly communicate with the robot via XBee module and also to track, online, information from sensors. Article concludes with a simple algorithm for sequentially walking robot.

引用

页码：97 / 105

页数：9

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