Behavior Based Locomotion Control in Multi-Legged Robot Constructed by Hierarchical Distributed Structure

Abstract

Multi-legged locomotion enables a mobile robot to behave flexibly in complex environment. High flexible locomotion, however, requires high computational load to the controller. Decentralized control approach is one of the most feasible ways to reduce the load. Although force control is useful in order to realize high adaptability to complex environment, solving a force distribution problem requires generally global information and it does not match the policy of decentralized control system. In this paper, we propose one method to solve a force distribution problem by bottom-up manner, in which local controllers modify the received target values locally by them.