Publication
Implementation of a hierarchical walk controller for the LAURON III hexapod robot
Conference Article
Conference
International Conference on Climbing and Walking Robots (CLAWAR)
Edition
6th
Pages
409-416
Doc link
File
Authors
Projects associated
Abstract
A control structure for a hexapod walking robot was previously developed at the IRI and implemented in simulation, as well as in a small robot with two degree of freedom legs. This same structure is now being implemented in a robot with three d.o.f. legs (LAURON III, from FZI). The problems found during the implementation in the real robot are summarized here. The main aspects that required special attention were the implementation of subsumption-like modules in MCA2, the native control architecture of the robot, and the difficulties to achieve the coordination of the movements of legs with the available actuators.
Categories
mobile robots.
Scientific reference
E. Celaya and J.L. Albarral. Implementation of a hierarchical walk controller for the LAURON III hexapod robot, 6th International Conference on Climbing and Walking Robots, 2003, Catania, Itàlia, in Climbing and Walking Robots and the Supporting Technologies for Mobile Machines: Clawar 2003, pp. 409-416, Professional Engineering Publishing Limited.
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