Navigation Control System of Walking Hexapod Robot

摘要

This paper describes the implementation of an electronic control system applied to a multivariable system called hexapod robot walker. The application focuses on the navigation system for the movement of the robot, planning the movements of the robot legs. The measurement of physical variables of the robot is performed using electronic force sensors mounted on the end of the legs. Just as an inertial sensor system for feedback orientation and direction in the navigation system of the hexapod robot. The operation of this robot was implemented with DC servo closed-loop controlled by electric current, angular position and angular velocity feedback.