Hexapod - six-legged walking robot controlled with Toda-Rayleigh lattice

• Autorzy: Piątek M. , Turnau A.
• Języki publikacji: EN

Abstrakty

EN

Movement of six-legged robot is considered. The robot is built to conduct research on the control of different modes of walking with a particular focus on switching from one mode to another. The robot parameters are identified from real-time control experiments. A number of identical servo motors are responsible for the mobility of the hexapod. Therefore, in addition to the construction of hexapod and its control system and the ability to generate different gaits, it is important to create a simulation model of the hexapod including servo motors. The full state observer for the servo motor is an integral part of this model. Forward and backward kinematics of the robot legs is implemented. The six node Toda-Rayleigh lattice model is created and numerically simulated. The lattice is applied as the robot controller. Three different modes of robot gait are achieved. The algorithm used for the gait mode change is equipped with parameters that are experimentally chosen.

Słowa kluczowe

EN

walking robot; walking algorithm; modelling; simulation; identification

• Wydawca: Uniwersytet Jagielloński - Collegium Medicum ; Index Copernicus Sp. z o.o.
• Czasopismo: Bio-Algorithms and Med-Systems
• Rocznik: 2012
• Tom: Vol. 8, no. 1
• Strony: 111--121
• Opis fizyczny: Bibliogr. 8 poz., rys.

Twórcy

autor

Piątek M.

• AGH University of Science and Technology, Faculty of Electrical Engineering, Automatics, Computer Science and Electronics, Department of Automatics, Mickiewicza 30 av. 30-059 Kraków, Poland

autor

Turnau A.

• AGH University of Science and Technology, Faculty of Electrical Engineering, Automatics, Computer Science and Electronics, Department of Automatics, Mickiewicza 30 av. 30-059 Kraków, Poland

Bibliografia

• 1. T. Zielińska, Walking machines. Wydawnictwa Komunikacji i Łączności, Warszawa, 2005, in Polish.
• 2. M. Piątek and P. Piątek. Development environment for the walking robot application, in Computer Methods and Systems 2009, Oprogramowanie Naukowo-Techniczne, November 2009.
• 3. M. Piątek, Real-Time Application Interface and Xenomai modified GNU/Linux real-time operating systems dedicated to control, in Computer Methods and Systems 2007 , Oprogramowanie Naukowo-Techniczne, 2007.
• 4. V. A. Makarov, W. Ebeling and M. G. Velarde, Soliton-like waves on dissipative Toda lattice, International Journal of Bifurcation and Chaos 10, 1075, 2000.
• 5. V. A. Makarov, E. del Rio, W. Ebeling and M. G. Velarde, Dissipative Toda-Rayleigh lattice and its oscillatory modes, Physical Review E 64 2001.
• 6. E. del Rio, V. A. Makarov, M. G. Velarde and W. Ebeling, Mode transitions and wave propagation in a driven-dissipative Toda-Rayleigh ring, Physical Review E 67 2003.
• 7. V. A. Makarov, E. del Rio, M. G. Bedia, M. G. Velarde and W. Ebeling, Central Pattern Generator Incorporating the Actuator Dynamics for a Hexapod Robot, International Journal of Mathematical and Computer Sciences 3, 97 (2007).
• 8. E. del Rio, V. A. Makarov, M. G. Velarde, M. G. Bedia and W. Ebeling, Electro-Mechanical Control of Hexapod Robot Locomotion, Paper Instituto Plurdisciplinar UCM Madrid (2008).