The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)
Online ISSN : 2424-3124
2010
Session ID : 1A1-G05
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1A1-G05 Highly-Mobile Centipede-Like Multi-Legged Robot based on Decentralized Control
Shinkichi INAGAKI, Tomoya NIWA, Tatsuya SUZUKI
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Keywords: Multi-Legged Robot, Uneven Terrain Walking, Decentralized Control, Event-Driven Control, Averaging leg contacting force
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Abstract
This paper addresses on decentralized walking control of multi-legged robots based on Follow-the-Contact-Point (FCP) gait control and averaging control of leg contact force. These control schemes realize gait control and navigation control on uneven terrain simultaneously with perfectly decentralized manner. In this paper, we introduce the control laws and show its availability by using a physical simulation of centipede-like multi-legged robot.
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© 2010 The Japan Society of Mechanical Engineers
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