Trajectory Planning Realization for Multi-Legged Walking Machine's Leg

Abstract:

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In this paper, multi-legged walking machine is simplified as one leg, which the whole machine is constructed by the modularization configuration of the legs in an axisymmetric way. Consequently, the control of one leg and its trajectory planning is the significant part for multi-legged walking machine. This paper, according to the structure of the walking machine's leg with 3-DOF open chains, calculates the terminal track of the leg using the principle of kinematics and presents a foot's controller based on dSPACE. In order to obtain the optimization of the foot's track, the three-cubic spline algorithm is considered. Depending on the model of the control system in Matlab, the paper provides a semi-physical simulation for a real leg using dSPACE. The feasibility of the planned track is demonstrated and the PID parameters have been adjusted.

Info:

Periodical:

Key Engineering Materials (Volumes 419-420)

Edited by:

Daizhong Su, Qingbin Zhang and Shifan Zhu

Pages:

629-632

DOI:

10.4028/www.scientific.net/KEM.419-420.629

Citation:

L. X. Zhang et al., "Trajectory Planning Realization for Multi-Legged Walking Machine's Leg ", Key Engineering Materials, Vols. 419-420, pp. 629-632, 2010

Online since:

October 2009

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Price:

$35.00

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