AN APPROACH TO WALKING ROBOTS PLANNING AND CONTROL

摘要

Vehicles which operate more or less autonomously are considered belonging to the robot’s family. The legged vehicles have the potential advantage to be able to operate over irregular terrain. The planning and control of these robots is considered hierarchically organized on two levels. At the high level, the robot is piloted in the task world. At the local level – operative level – the locomotion function is performed. In this paper, walking orthogonal hexapods, for moving along uneven terrain are the object of study. By kinematic analysis the direct and inverse geometrical models and a differential model are developed. The accommodation to terrain using force sensing is approached too. This approach is useful to write the control algorithms of the analyzed robots or of other structures by analogy.