A Synchronizing Control For Hexapod Walking Robot

摘要

This paper describes a synchroniz- ing control for a hexapod walking robot named Hexax-I, which is developed for purpose of trans- portation in unstructured environnient. Hexapod robots are practical machine for such purpose, but they include several unsolved technical problems. While problems of power and mechanisms are ma- jor to be solved, control problems are also serious problenis. One of big control problem is the strat- egy how to syncliroiiise the six legs. 'Open loop control' is a simple approach, but it is not robust against disturbances by ground, thus it disables the good property,'flexible walking'. This paper proposes a simple control strategy to realize syn- chronized motion of six legs.