OPTIMIZATION OF HEXAPOD ROBOT LOCOMOTION

被引：0

作者：

Luneckas, Tomas ^{[1
]}

Udris, Dainius ^{[1
]}

机构：

[1] Vilnius Gediminas Tech Univ, Vilnius, Lithuania

来源：

ECT 2009: ELECTRICAL AND CONTROL TECHNOLOGIES | 2009年

关键词：

Hexapod robot; inverse kinematics; Denavit-Hartenberg method; IR sensors; tactile sensors; obstacle detection;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Hexapod robot moving through irregular terrain must adapt it's locomotion in order to sustain stable and fast movement. Chosen gaits and control methods have to vouch an optimal leg positioning and coordination. An inverse kinematics method is introduced for positioning legs to a needed point. Means of leg contact with ground indications using tactile sensors are discussed and their influence to robot control is discussed. Simple obstacle detection method using IR sensors is presented. Aim is to adapt all these methods into a real-time control system.

引用

页码：40 / 43

页数：4