Sensor components of the six-legged walking machine LAURON II

Abstract

This paper dtwribes the sensing components of LAU-RON 11. To manage the complex task of walking machincl control several sensors are integrated in the control ;irchit,ecture of the robot. The most sophisticated scnsnr-system is the light weight stereo head of LAU-R O N 11. The head is designed as a universal platform to test, different, kinds of sensors for obstacle detection. For c.xample the construction allows to mount ultrasonic transducers or infrared-based distance sensors. Usually is it used with two grayscale cameras and a line laser to detect obstacles. The change of shape of thc. projected line in the camera pictures is measured and distances of obstacles can be determined Keywords: Walking Machine, Stereo Head, Sensing 0-7803-41 60-0-7/97 $1 0.00 0 1997 IEEE

Performance Index-Based Evaluation of Quadruped RoboticWalking Configuration

“…Nevertheless, the balance of such a quadrupedal robot may be unstable in a walking process according to the locations of supporting feet [15] [3]. On the other hand, the case of a six-legged robot is flexible comparably to make various foot configurations for stable walking [16] [17]. But its control is rather hard due to the structural complexity.…”

A design study of a cable-driven hexapod

“…The inequalities in (13) are satisfied row by row and thus represent hyperplanes in balanced acceleration-force space. The extent of the balanced quantities is determined by their largest values which satisfy all of the relations in (13).…”

“…The extent of the balanced quantities is determined by their largest values which satisfy all of the relations in (13). The entire feasible region can be determined by overlaying all the hyperplanes in balanced quantity space.…”

“…The inactive legs are characterized by the translational accelerationsv 2 , v 4 , andv 6 in the equations of motion (1), and DCE (13). The acceleration of the inactive legs determines the stride frequency, which in turn affects how fast the robot can move.…”

“…An example is the Adaptive Suspension Vehicle [10] whose legs were designed based on mechanical efficiency criteria and utilized hydraulic actuators. The most common construction mounts one actuator on each link which drives the next link via a speed reducer; however, actuators and speed reducers installed on distal links become the load for the actuators installed on the proximal links of the leg; examples include the CW Robot II [11], TUM Walking Robot [12], and Lauron II [13].…”