We present a reactive controller that is able to displace a legged robot along an arbitrary trajectory with a high degree of accuracy. We designed the different modules of our controller so that they can deal with arbitrary leg configurations. In this way, any leg movement necessary to overcome unexpected terrain irregularities can be correctly compensated by the controller, while still following the trajectory commanded by the user. Since we move the robot as a reaction to leg movements while stepping, the speed of the robot is automatically adjusted to the terrain profile: the more obstacles in the terrain, the more leg movements necessary to overcome them, and the slower the movement of the robot. We prove that, as the terrain becomes simpler, so does the gait generated by our controller, automatically converging to the tripod gait when the terrain becomes at. This is achieved without requiring a map of the terrain and, thus, our controller can be used by robots with minimum computational and sensing capabilities. The results we report using different legged robots and in different environments prove the adequacy of our approach. ; This work was supported by projects: 'Navegación autónoma de robots guiados por objetivos visuales' (070-720), 'Sistema reconfigurable para la navegación basada en visión de robots caminantes y rodantes en entornos naturales.' (00). This paper has been partially supported by the Spanish Ministerio de Ciencia y Tecnología and FEDER funds, under the projects DPI2000-1352-02-01 and DPI2003-05193-C02-01 of the Plan Nacional de I+D+I. ; Peer Reviewed


    Zugriff

    Download


    Exportieren, teilen und zitieren



    Titel :

    Reactive free-gait generation to follow arbitrary trajectories with a hexapod robot


    Beteiligte:
    Porta, Josep M. (Autor:in) / Celaya, Enric (Autor:in)

    Erscheinungsdatum :

    2004-01-01


    Anmerkungen:

    doi:10.1016/j.robot.2004.04.001



    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Klassifikation :

    DDC:    629



    Double-gait hexapod robot and double-gait hexapod robot crawling method

    LIU ZHEN / WANG HUAQIANG | Europäisches Patentamt | 2023

    Freier Zugriff

    Free gait generation based on discretization for a hexapod robot

    Li, Manhong / Zhang, Xiaojun / Zhang, Jianhua et al. | IEEE | 2013



    Four-foot gait walking method of hexapod robot

    WANG BENLIN / MA ZHAO / ZHAO XIAOMIN et al. | Europäisches Patentamt | 2023

    Freier Zugriff

    Terrain adaptation gait algorithm in a hexapod walking robot

    Isvara, Yudi / Rachmatullah, Syawaludin / Mutijarsa, Kusprasapta et al. | IEEE | 2014