Posture control of a cockroach-like robot

摘要

Describes the posture controller for a new cockroach-like hexapod robot developed in the Bio-Robotics Laboratory at Case Western Reserve University. The posture controller is based upon the virtual model control scheme and the problem of redundant kinematics is solved using an optimization approach. It does not just control static posture, but is the major component of a future locomotion controller. The robot has complex, animal-like kinematics with 24 degrees of freedom, yet the controller effectively manages its posture despite large perturbations. The algorithm is also computationally efficient.