Current Sensing in a Six-Legged Robot

Bombled, Q.; Verlinden, Olivier

doi:10.1007/978-94-007-1643-8_9

Cited by 2 publications

(6 citation statements)

References 4 publications

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“…• Any kind of controller and/or gait algorithm could be implemented on the master, provided that the computation is fast enough to stay inside the control time slice. For example, see (Bombled and Verlinden, 2010) for a ground detection algorithm from motors currents sensing.…”

Section: Discussionmentioning

confidence: 99%

A SIMPLE AND EFFICIENT CONTROL ARCHITECTURE FOR WALKING ROBOTS - Application to AMRU5

Bombled¹,

Verlinden

Bagein³

et al. 2011

Proceedings of the 8th International Conference on Informatics in Control, Automation and Robotics

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A decentralized control architecture has been developed on the walking machine AMRU5. The vehicle is actuated by 18 DC motors, which have to be highly synchronized to produce a smooth motion of the robot body. Each leg has 3 motors driven by a microcontroller. The six microcontrollers communicate with a PC running real-time Linux which manages the feet motion generation to produce the desired gait. The complete control chain has been developed using standard freely available C tools.

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Section: Discussionmentioning

confidence: 99%

A SIMPLE AND EFFICIENT CONTROL ARCHITECTURE FOR WALKING ROBOTS - Application to AMRU5

Bombled¹,

Verlinden

Bagein³

et al. 2011

Proceedings of the 8th International Conference on Informatics in Control, Automation and Robotics

View full text Add to dashboard Cite

show abstract

“…In 1850, Chebyshev designed a four-legged machine with mechanically synchronized legs, based on straight-line linkages, Figure 1. In 1893, Rygg obtained a patent for the human-powered mechanical horse (15) . With its 1300 kg, this robot is still one of the most accomplished legged vehicles (15) .…”

Section: Literature Reviewmentioning

confidence: 99%

“…In 1893, Rygg obtained a patent for the human-powered mechanical horse (15) . With its 1300 kg, this robot is still one of the most accomplished legged vehicles (15) . Another important contribution comes from the MIT Humanoid Robotics group.…”

Section: Literature Reviewmentioning

confidence: 99%

“…Another important contribution comes from the MIT Humanoid Robotics group. R. Brooks (15) developed the subsumption architecture and implemented it on Genghis, Figure 3 . RHex is a quite original robot that can travel across hard terrains, with only one actuator per leg.…”

Section: Literature Reviewmentioning

confidence: 99%

“…RHex is a quite original robot that can travel across hard terrains, with only one actuator per leg. It was a collaborative work between McGill, Michigan, and Berkeley universities (15) .…”

Section: Literature Reviewmentioning

confidence: 99%

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Dynamic simulation and design of a simple hexapod robot

Alshammari¹

2020

IJST

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Background/Objectives: For motions in off-road navigation, including sandy or wet natural environments and space explorations legged machines, mimicking anatomy of legged animals are efficient. However, the traditional full-actuated legged robots are heavy with complex actuation and control systems, as for each degree of freedom separate actuator is used. The purpose of this work is to develop a kinematic model using a single-actuator for hexapod legged robot taking advantage of bio-inspiration and mechanism design techniques. Methods/Statistical analysis: A vector analysis method was used for measuring the system kinematics equations. The simulation of the walking process was performed using MATLAB. A real prototype of the system has been fabricated based on the design, which is not bulky due to use of single motor, and does not require complex control and sensor systems. Findings: Simulations showed that the kinematic model along with the hypothesis on the ground interaction describes the locomotion, which can be used where robots with low-speed repositioning are required. Theoretical analysis, virtual prototype simulations, as well as initial experiments with the physical prototype, showed an efficient functionality of the system. Novelty/Applications: The design and kinematic model can be used for developing low-energy environmental robots for remote areas with occasional relocation requirements. Keywords: Biomimetic environmental robot; kinematic analysis; mechanism design; tripod gait; walking mechanism

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Current Sensing in a Six-Legged Robot

Cited by 2 publications

References 4 publications

A SIMPLE AND EFFICIENT CONTROL ARCHITECTURE FOR WALKING ROBOTS - Application to AMRU5

A SIMPLE AND EFFICIENT CONTROL ARCHITECTURE FOR WALKING ROBOTS - Application to AMRU5

Dynamic simulation and design of a simple hexapod robot

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