Type Design and Behavior Control for Six Legged Robots

The research on legged robots attracted much attention both from the academia and industry. Legged robots are multi-input multi-output with multiple end-effector systems. Therefore, the mechanical design and control framework are challenging issues. This paper reviews the development of type synthes...

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Bibliographic Details
Published in:Chinese journal of mechanical engineering 2018-12, Vol.31 (1), p.1-12, Article 59
Main Authors: Fang, Ling, Gao, Feng
Format: Article
Language:English
Subjects:
Electrical Machines and Networks
Electronics and Microelectronics
End effectors
Engineering
Engineering Thermodynamics
Heat and Mass Transfer
Instrumentation
Machines
Manufacturing
Mechanical Engineering
Power Electronics
Processes
Review
Robot control
Robots
Synthesis
Theoretical and Applied Mechanics
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Summary:The research on legged robots attracted much attention both from the academia and industry. Legged robots are multi-input multi-output with multiple end-effector systems. Therefore, the mechanical design and control framework are challenging issues. This paper reviews the development of type synthesis and behavior control on legged robots; introduces the hexapod robots developed in our research group based on the proposed type synthesis method. The control framework for legged robots includes data driven layer, robot behavior layer and robot execution layer. Each layer consists several components which are explained in details. Finally, various experiments were conducted on several hexapod robots. The summarization of the type synthesis and behavior control design constructed in this paper would provide a unified platform for communications and references for future advancement for legged robots.
ISSN:1000-9345
2192-8258
DOI:10.1186/s10033-018-0259-9