Terrain following control of self-contained semi-fixed gait hexapod walking robot

Abstract

The paper provides a control algorithm for terrain following of the self-contained semi-fixed gait hexapod walking machine MELCRAB-2. MELCRAB-2 uses decoupled freedoms of the leg mechanism for the body-propelling motion and the terrain-adapting motion. The mechanism simplifies the drive and control of the walking machine over rough terrain. The geometry of the leg mechanism is described, and its inverse kinematics is solved analytically. An algorithm for following the terrain and adjusting the body altitude is introduced.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>