Motion Control System Development for a Mobile Robot

Okhotsimski, D.E.

doi:10.1016/b978-0-08-024449-5.50037-0

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Walking Machines In the Ussr1

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“…A hexapod with its legs disposed radially about a central vertical axis was built by Ignatiev in Leningrad (Vukobratovic 1973) but most of the work has been done in Moscow, at various related institutes. From 1971 on wards a series of papers on legged locomotion was published and by the mid-1970s two or three electric hexapods were in existence (Vukobratovic 1973;Okhotsimski 1979;Platonov 1979). Those described by Okhotsimski and Platonov are rather similar to the OSU hexapod; both were equipped with television cameras or rangefinders.…”

Section: Walking Machines In the Ussrmentioning

confidence: 99%

Walking Machines

Todd¹

1985

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Section: Walking Machines In the Ussrmentioning

confidence: 99%

Walking Machines

Todd¹

1985

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Development and field testing of the FootFall planning system for the ATHLETE robots

SunSpiral

Wheeler

Chavez-Clemente

et al. 2012

Journal of Field Robotics

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The FootFall Planning System is a ground-based planning and decision support system designed to facilitate the control of walking activities for the ATHLETE (All-Terrain HexLimbed Extra-Terrestrial Explorer) family of robots. ATHLETE was developed at NASA's Jet Propulsion Laboratory (JPL) and is a large six-legged robot designed to serve multiple roles during manned and unmanned missions to the Moon; its roles include transportation, construction and exploration. Over the four years from 2006 through 2010 the FootFall Planning System was developed and adapted to two generations of the ATHLETE robots and tested at two analog field sites (the Human Robotic Systems Project's Integrated Field Test at Moses Lake, Washington, June 2008, and the Desert Research and Technology Studies (D-RATS), held at Black Point Lava Flow in Arizona, September 2010). Having 42 degrees of kinematic freedom, standing to a maximum height of just over 4 meters, and having a payload capacity of 450 kg in Earth gravity, the current version of the ATHLETE robot is a uniquely complex system. A central challenge to this work was the compliance of the high-DOF (Degree Of Freedom) robot, especially the compliance of the wheels, which affected many aspects of statically-stable walking. This paper will review the history of the development of the FootFall system, sharing design decisions, field test experiences, and the lessons learned concerning compliance and self-awareness.

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Motion Control System Development for a Mobile Robot

Cited by 2 publications

References 1 publication

Walking Machines

Walking Machines

Development and field testing of the FootFall planning system for the ATHLETE robots

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