The Control System of the Eight-Legged Mobile Walking Robot

Abstract

Abstract. The paper considers the control system of the autonomous mobile robot CS-7 with eight supporting legs, installed on four hard frames in pairs. Advantages of the chosen design: energy absence to support machine weight and simpler algorithms of trajectory and reference points motion management.Onboard control is designed as a scalable, modular distributed low-level microprocessor system, which comprises two major subsystems: information measurement for processing sensors data and robot actuators control.Supervisory control mode is supported by the vision system based on timeof-flight cameras and a set of ultrasonic and infrared sensors, geosteering module for local and global robot positioning. Measuring information is transmitted to the control computer via Wi-Fi module. Software for the upper-level computer and library of functions for low-level units are developed for the implementation of various robot motion algorithms. Functions define the basic parameters of orthogonal movers depending on the given route and environment map.

Turning and Radius Deviation Correction for a Hexapod Walking Robot Based on an Ant-Inspired Sensory Strategy

“…Normally, the more legs a robot has, the more difficult it is to control the gait. However, robots with multiple legs theoretically have better stability and load capacity [ 46 , 47 ] For robots with fewer legs such as biped robots [ 48 , 49 , 50 ], their motion is achieved by swinging one leg alternately. In most cases, it is balanced by one supporting leg.…”

Finite state automaton based control system for walking machines

“…The authors claim 'Usually, architectures are presented by informal text descriptions supplemented by block diagrams, with varying level of details'; this makes the comparisons impossible. Very few publications [40][41][42] are tackling the problem of effective control systems for multi-legged walking machines; moreover, the descriptions are in general hardware and case oriented. On the other hand, due to the omnidirectionality, availability of many gaits and the need of locomotion adaptation to the terrain conditions, the control and navigation is rather complex.…”