抄録
The present paper proposes a six-legged walking robot having two manipulators which offers added stability, mobility, and functionality. In this research, neuro-based position and force hybrid motion control for walking on irregular terrain is studied. Comparison with conventional position and force hybrid control demonstrates the high efficiency oth the proposed neuro-based position and force hybrid control system. The neuro-based position and force hybrid control system includes six-axis force sensors in each leg, which provide not only control in the vertical direction; i. e., in the direction of gravity, but also control in the walking direction. This platform has proven to be very useful on irregular terrain including obstacles of random height and random position. Consequently, autonomous stable walking in an unknown environment has been realized through the experiments.
