Development of Motion Control of Legs in Six-Legged Robotic Vehicle

Ján Fetyko; Jaromir Jezný; Róbert Üveges; Viliam Fedák

doi:10.4028/www.scientific.net/AMM.613.36

Paper Titles

A Plea for the Cognitive Solution Attempt: Cognitive Robotics, Cognitive Factory and Cognitive Solutions. Cognitive Robotics as a Model for the Development of Cognitive Solutions
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Mechanisms for Small and Micro Robotic Devices
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Prototype Model of Walking Robot
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Development of Robotic Vehicle in the Intermediate Category Suitable for Deployment in Rough Terrain
p.29

Development of Motion Control of Legs in Six-Legged Robotic Vehicle
p.36

Concept of the Model Robotized Cell for Plasma-GMAW Hybrid Welding
p.43

Motion Coordination of Two Robots in Cartesian Space Based on Mechanical Impedance
p.53

Proposal of Multi Robotic Cells for Production Lines
p.60

Simple Image Processing Algorithms for Robot Navigation in Unknown Environment
p.66

HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vol. 613Development of Motion Control of Legs in...

Development of Motion Control of Legs in Six-Legged Robotic Vehicle

Abstract:

The paper describes control structure for driving system of a leg in six-legged robot vehicle. It can walk using locked wheels or it can roll on unlocked wheels. The leg joints are driven by hydraulic actuating units. Two different control structures are analyzed – control of a hydraulic cylinder through a mechanical gear and a structure for control of two hydraulic cylinders through a double eccentric gear mechanism. For control of the actuating units a conventional cascade structure with PI controllers completed by pre-compensation of controlled and observed variables is used. The performance of the structure has been proved on experimental stand and the experimental results are reported.

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Periodical:

Applied Mechanics and Materials (Volume 613)

Pages:

36-42

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.613.36

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Online since:

August 2014

Authors:

Ján Fetyko, Jaromir Jezný, Róbert Üveges, Viliam Fedák*

Keywords:

Legged Robotic Vehicle, Motion Control, Robot Control

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* - Corresponding Author

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