A Hybrid Locomotion Control Approach
نویسنده
چکیده
A lot of different approaches for controlling locomotion in multipods already exist but most of them are focused on reflex[1] or Central Pattern Generator (CPG) control[2] only and do not take into account a flexible posture control. Therefore, an enhanced locomotion control concept to improve the flexibility of motion production is presented. This concept is based on experiences gained in the SCORPION project [3] and has been firstly tested with the SCORPION robot.
منابع مشابه
On the use of Hybrid Control for Legged Locomotion
In this paper, we develop a hybrid control approach for legged locomotion. We motivate the development of the control architecture using the results of a series of walking, running and obstacle climbing experiments conducted using a six legged robot called HEX. Our initial simulation results indicate the potential stability of the control approach, and our future analytical work should provide ...
متن کاملHybrid Model for Passive Locomotion Control of a Biped Humanoid:The Artificial Neural Network Approach
Please cite this article in press as: M. Raj, V. Bhaskar Semwal, G.C.Nandi. Hybrid Model for Passive Locomotion Control of a Biped Humanoid:The Artificial Neural Network Approach, International Journal of Interactive Multimedia and Artificial Intelligence, (2017), http://dx.doi.org/10.9781/ijimai.2017.10.001 * Corresponding author. E-mail addresses: [email protected] (Manish Raj), vsemwal@...
متن کاملModeling and Control of a Hybrid Locomotion System
This paper describes a hybrid mobility system that combines the advantages of both legged and wheeled locomotion. The legs of the hybrid mobility system permit it to surmount obstacles and navigate difficult terrain, while the wheels allow efficient locomotion on prepared surfaces and provide a reliable passive mechanism for supporting the weight of the vehicle. We address the modeling, analysi...
متن کاملA Framework for Steering Dynamic Robotic Locomotion
We seek to formulate control and motion planning algorithms for a class of dynamic robotic locomotion systems. We consider mechanical systems that involve some type of interaction with the environment and have dynamics that possess rotational and translational symmetries. Research in non-holonomic systems and geometric mechanics has led to a single, simplified framework that describes this clas...
متن کاملLocomotion control of hybrid cockroach robots.
Natural systems retain significant advantages over engineered systems in many aspects, including size and versatility. In this research, we develop a hybrid robotic system using American (Periplaneta americana) and discoid (Blaberus discoidalis) cockroaches that uses the natural locomotion and robustness of the insect. A tethered control system was firstly characterized using American cockroach...
متن کامل