Development of an effective walking system for a hexapod robot on uneven terrain

Title
Development of an effective walking system for a hexapod robot on uneven terrain
Author(s)
이석규이기원김준우
Issue Date
201312
Citation
Journal of Institute of Control, Robotics and Systems, v.19, no.12, pp.1152 - 1159
Abstract
This paper proposes an effective walking system for a hexapod robot on uneven terrain. To overcome the deficiencies of two-pair walking systems, which are effective on even terrain, the use of only three legs changes the steps required for movement. The proposed system receives feedback data from switches attached to the bottom of the legs and gyro sensor to carry out stable walking using the Bezier curve algorithm. From the coordinates of the Bezier curve, which guarantees the circular motion of legs, the motor's angle value can be obtained using inverse kinematics. The angle values are sent to each motor though RS-485 communication. If a switch is pushed by the surface during navigation in the Bezier curve pattern, the robot is designed to change its circular course. Through the changed course, each leg can be located on an optimal surface and the wobble phenomenon is reduced by using a normal vector algorithm. The simulation and experiment results show the efficiency of the proposed algorithm. ? ICROS 2013.
URI
http://hdl.handle.net/YU.REPOSITORY/28001http://dx.doi.org/10.5302/J.ICROS.2013.13.1936
ISSN
1976-5622
Appears in Collections:
공과대학 > 전기공학과 > Articles
공과대학 > 전자공학과 > Articles
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