1A1-H04 Autonomous Navigation of Hydraulically Actuated Hexapod Robot COMET-IV : The 1st Report: Outdoor Trajectory Tracking Control by using GPS

Abstract

This paper is relation to way points tracking on uneven terrain of the Hexapod robot COMET-IV which is 2.5 meters long, 3.3 meters wide, 2.8 meters high and approximately two thousand kilograms. Recently, many autonomous robots have been developing to be helpful for people in the world. The autonomous robot which moves outdoors must have the good trajectory tracking control. But, it is not easy for COMET-IV to achieve the good trajectory following performance because of a soil deformation, a foot slippage due to the heavy robot and big size. This time, we apply a way point tracking control to the COMET-IV for an autonomous robot.