Posture Control of Six-Legged Robot in Consideration of Actuator Dynamics(Mechanical Systems)

Abstract

It is desirable to establish a posture control method considering the dynamics of the actuator. In the present study, as a model considering the dynamics of the actuator, we constructed a mathematical model in which inputs were the driving torque of the thigh links in the supporting legs and the outputs were the height of the body, the pitching angle, and the rolling angle. The optimal servo control system was designed for this model. As a result of 3D simulation, the proposed control method showed a good following performance to the periodical references of the pitching and rolling angle compared with the control method not considering actuator dynamics. And, in the case of following the periodical references of the body posture, experimental results were almost coincident with 3D simulation results.