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HEXAPOD - SIX-LEGGED WALKING ROBOT CONTROLLED WITH TODA-RAYLEIGH LATTICE
1 AGH University of Science and Technology, Faculty of Electrical Engineering, Automatics, Computer Science and Electronics, Department of Automatics, Mickiewicza 30, 30-059 Kraków, Poland
Citation Information: Bio-Algorithms and Med-Systems BAMS. Volume 8, Pages 111–, ISSN (Online) 1896-530X, ISSN (Print) 1895-9091, DOI: 10.2478/bams-2012-0006, January 2012
Movement of six-legged robot is considered. The robot is built to conduct research on the control of different modes of walking with a particular focus on switching from one mode to another. The robot parameters are identified from real-time control experiments. A number of identical servo motors are responsible for the mobility of the hexapod. Therefore, in addition to the construction of hexapod and its control system and the ability to generate different gaits, it is important to create a simulation model of the hexapod including servo motors. The full state observer for the servo motor is an integral part of this model. Forward and backward kinematics of the robot legs is implemented. The six node Toda-Rayleigh lattice model is created and numerically simulated. The lattice is applied as the robot controller. Three different modes of robot gait are achieved. The algorithm used for the gait mode change is equipped with parameters that are experimentally chosen.