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Regulated Walking for Multipod Robots

Authors:
Jörg Roth

Keywords: Multipods; Hexapod; Autonomous Walking; Path-Following; Trajectory Regulation

Abstract:
Following a computed path is a fundamental task for robot motion. The goal is to compensate error effects, such as slippage and create a movement that minimizes the difference between planned and real positions. This problem becomes even more difficult in case we have legged mobile robots instead of wheeled robots. In this paper, we present an approach to regulate paths for multipods. It is based on explicit slippage detection and re-uses a trajectory planning component to compute regulation trajectories. The approach is implemented and tested on the Bugbot hexapod robot.

Pages: 15 to 20

Copyright: Copyright (c) IARIA, 2019

Publication date: May 5, 2019

Published in: conference

ISSN: 2308-4146

ISBN: 978-1-61208-706-1

Location: Venice, Italy

Dates: from May 5, 2019 to May 9, 2019