Paper Title:
Design of a Crab-Like Octopod Robot
  Abstract

A crab-like octopod robot is introduced in this paper. The body structure of the robot is simuliar with a real crab. Each leg has three jionts which are driven by servomotors. The control system is a distributed hierarchical system with a top layer as gait generator and a bottom layer as servomotor controller. The bottom layer has enght individual control units every of which can control three servomotors using PID control method. The sensor systerm is composed of force sensors mounted at the end of the leg and a inclinometer provides pitch and roll angles of the body.

  Info
Periodical
Edited by
Kai Cheng, Yingxue Yao and Liang Zhou
Pages
263-266
DOI
10.4028/www.scientific.net/AMM.10-12.263
Citation
H. W. Ma, L.Q. Wang, D.L. Chen, X.W. Hao, H.W. Luo, "Design of a Crab-Like Octopod Robot", Applied Mechanics and Materials, Vols. 10-12, pp. 263-266, 2008
Online since
December 2007
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