Home // International Journal On Advances in Systems and Measurements, volume 12, numbers 3 and 4, 2019 // View article

Trajectory Regulation for Walking Multipod Robots

Authors:
Jörg Roth

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

Abstract:
Walking on a computed path is a fundamental task for mobile robots. Due to error effects such as slippage or imprecise mechanics, motion commands usually cannot exactly be executed. Thus, resulting positions and orientations may differ from the expectations. A robot has to compensate motion errors and should create a continuous 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 different mechanisms to regulate walking for multipod robots such as hexapods. They are based on virtual odometry, slippage detection and compensation as well as different types of regulation trajectories. These mechanisms are implemented and tested on the Bugbot hexapod robot.

Pages: 265 to 278

Copyright: Copyright (c) to authors, 2019. Used with permission.

Publication date: December 30, 2019

Published in: journal

ISSN: 1942-261x