Dynamic Model, Gait Generation and Control of the Amru5 Hexapod Robot

Bombled, Q.; Verlinden, Olivier

doi:10.1142/9789814291279_0063

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2011

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“…Basically, the slave board has four tasks to perform within one control time slice: 1) manage local network communication, 2) collect continuously positions of the three motor shafts, 3) drive the three motors by applying the received command, 4) perform A/D conversions of three motor currents and the board voltage supply. The systematic data logging helps us to validate accurately a dynamic model established in (Bombled and Verlinden, 2009). Tasks 1) and 3) and 4) require less than 1.5 ms to be completed.…”

Section: The Slavementioning

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: The Slavementioning

confidence: 99%