Adaptive locomotion control of hexapod walking robot for traversing rough terrains with position feedback only
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F19%3A00331074" target="_blank" >RIV/68407700:21230/19:00331074 - isvavai.cz</a>
Result on the web
<a href="https://doi.org/10.1016/j.robot.2019.03.008" target="_blank" >https://doi.org/10.1016/j.robot.2019.03.008</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1016/j.robot.2019.03.008" target="_blank" >10.1016/j.robot.2019.03.008</a>
Alternative languages
Result language
angličtina
Original language name
Adaptive locomotion control of hexapod walking robot for traversing rough terrains with position feedback only
Original language description
Traversing rough terrains is one of the domains where multi-legged walking robots benefit from their relatively more complex kinematics in comparison to wheeled robots. The complexity of walking robots is usually related not only to mechanical parts but also to servomotors and the necessary electronics to efficiently control such a robotic system. Therefore, large, middle, but even small walking robots capable of traversing rough terrains can be very costly because of all the required equipment. On the other hand, using intelligent servomotors with the position control and feedback, affordable hexapod walking robots are becoming increasingly available. However, additional sensors may still be needed to stabilize the robot motion on rough terrains, e.g., inclinometers or inertial measurement units, force or tactile sensors to detect the ground contact point of the leg foot-tip. In this work, we present a minimalistic approach for adaptive locomotion control using only the servomotors position feedback. Adaptive fine-tuning of the proposed controller is supported by a dynamic model of the robot leg accompanied by the model of the internal servomotor controller. The models enable timely detection of the leg contact point with the ground and reduce developed stress and torques applied to the robot construction and servomotors without any additional sensor feedback. The presented results support that the proposed approach reliably detects the ground contact point, and thus enable traversing rough terrains with small, affordable hexapod walking robot.
Czech name
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Czech description
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Classification
Type
J<sub>imp</sub> - Article in a specialist periodical, which is included in the Web of Science database
CEP classification
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OECD FORD branch
10201 - Computer sciences, information science, bioinformathics (hardware development to be 2.2, social aspect to be 5.8)
Result continuities
Project
Result was created during the realization of more than one project. More information in the Projects tab.
Continuities
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)
Others
Publication year
2019
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů
Data specific for result type
Name of the periodical
Robotics and Autonomous Systems
ISSN
0921-8890
e-ISSN
1872-793X
Volume of the periodical
116
Issue of the periodical within the volume
June
Country of publishing house
NL - THE KINGDOM OF THE NETHERLANDS
Number of pages
12
Pages from-to
136-147
UT code for WoS article
000466820600010
EID of the result in the Scopus database
2-s2.0-85063731501