Intelligent walking motions and control for a legged robot

Abstract

Legged vehicles have the advantage over traditional wheeled vehicles is that they are capable of travelling on virtually any type of terrain. To realise this advantage, legged robots must possess efficient control and gait generation strategies. This paper presents a novel technique that contributes to a unique control system that has been developed to provide walking/climbing motions for an advanced 8-legged robot, Robug IV. The robot is based on the emulation of arthropod walkers and climbers, and is powered by pneumatic actuators. A new Fuzzy-Logic Adaptive Gait (FLAG) algorithm has been developed to provide improved walking\climbing strategies.