TY - GEN
T1 - Behavior-based control of a hybrid quadruped robot
AU - Bo, Huang
AU - Pengfei, Wang
AU - Lining, Sun
PY - 2006
Y1 - 2006
N2 - The mechanics and control specifications of a hybrid quadruped robot currently being built at Harbin Institute of Technology, China is proposed. The robot, named HIT-HYBTOR, weights about 25 kilograms, has four legs and wheels on its feet so that it can walk and step over barriers on rough terrain or drive by wheels accessing more speed on even ground. To master the control task of HIT-HYBTOR, hierarchical hardware architecture was implemented with two levels: the microprocessor level and the PC level. The microprocessor level is responsible for the low-level control of the legs, the wheels and the body movement, of course, receive the sensor data too. The PC level controls the complete movement of the HIT-HYBTOR like trajectory planning and leg coordination. A behavior-based control system clasified into three kinds: step behaviors, posture behaviors and navigation behaviors for the quadruped walking robot is described. We investigate how the behavior-based approach can be used for control and gait generation of a quadruped walking in uneven terrain. Results from simulations and test of the robot are given.
AB - The mechanics and control specifications of a hybrid quadruped robot currently being built at Harbin Institute of Technology, China is proposed. The robot, named HIT-HYBTOR, weights about 25 kilograms, has four legs and wheels on its feet so that it can walk and step over barriers on rough terrain or drive by wheels accessing more speed on even ground. To master the control task of HIT-HYBTOR, hierarchical hardware architecture was implemented with two levels: the microprocessor level and the PC level. The microprocessor level is responsible for the low-level control of the legs, the wheels and the body movement, of course, receive the sensor data too. The PC level controls the complete movement of the HIT-HYBTOR like trajectory planning and leg coordination. A behavior-based control system clasified into three kinds: step behaviors, posture behaviors and navigation behaviors for the quadruped walking robot is described. We investigate how the behavior-based approach can be used for control and gait generation of a quadruped walking in uneven terrain. Results from simulations and test of the robot are given.
KW - Behavior-based
KW - Hybrid
KW - Quadruped
KW - Robot
UR - https://www.scopus.com/pages/publications/34047236527
U2 - 10.1109/WCICA.2006.1713740
DO - 10.1109/WCICA.2006.1713740
M3 - 会议稿件
AN - SCOPUS:34047236527
SN - 1424403324
SN - 9781424403325
T3 - Proceedings of the World Congress on Intelligent Control and Automation (WCICA)
SP - 8997
EP - 9001
BT - Proceedings of the World Congress on Intelligent Control and Automation (WCICA)
T2 - 6th World Congress on Intelligent Control and Automation, WCICA 2006
Y2 - 21 June 2006 through 23 June 2006
ER -