Design of the three-bus control system utilising periodic relay for a centipede-like robot

Tianqi Wei*, Qingsheng Luo, Yang Mo, Yong Wang, Zhineng Cheng

*此作品的通讯作者

科研成果: 期刊稿件文章同行评审

3 引用 (Scopus)

摘要

A centipede-like robot, which has high degrees of freedom (DOFs) and similar body segments, requires new real-time control to achieve diverse gaits. Therefore, we have studied the movement characteristics of multi-legged creatures and determined the features for a gait periodic relay. An instruction-relay control scheme, the three-bus control system and the required software were then designed. In our experiments with the designed control system, different gaits for the robot could be achieved, and the phase difference between body segments could be changed by altering the delay time. As a whole, this control system could accomplish the required control task and reasonably simplify the gait control algorithms and procedures.

源语言英语
页(从-至)1841-1854
页数14
期刊Robotica
34
8
DOI
出版状态已出版 - 1 8月 2016

指纹

探究 'Design of the three-bus control system utilising periodic relay for a centipede-like robot' 的科研主题。它们共同构成独一无二的指纹。

引用此