Intelligent walking motions and control for a legged robot

B. L. Luk; S. Galt; D. S. Cooke; N. O. Hewer

Intelligent walking motions and control for a legged robot

B. L. Luk, S. Galt, D. S. Cooke, N. O. Hewer

Research output: Chapters, Conference Papers, Creative and Literary Works › RGC 32 - Refereed conference paper (with host publication) › peer-review

4 Citations (Scopus)

Abstract

Legged vehicles have the advantage over traditional wheeled vehicles is that they are capable of travelling on virtually any type of terrain. To realise this advantage, legged robots must possess efficient control and gait generation strategies. This paper presents a novel technique that contributes to a unique control system that has been developed to provide walking/climbing motions for an advanced 8-legged robot, Robug IV. The robot is based on the emulation of arthropod walkers and climbers, and is powered by pneumatic actuators. A new Fuzzy-Logic Adaptive Gait (FLAG) algorithm has been developed to provide improved walking\climbing strategies.

Original language	English
Title of host publication	European Control Conference, ECC 1999 - Conference Proceedings
Publisher	IEEE
Pages	4756-4761
ISBN (Print)	9783952417355
Publication status	Published - 24 Mar 2015
Externally published	Yes
Event	1999 European Control Conference (ECC 1999) - Karlsruhe, Germany Duration: 31 Aug 1999 → 3 Sept 1999

Conference

Conference	1999 European Control Conference (ECC 1999)
Place	Germany
City	Karlsruhe
Period	31/08/99 → 3/09/99

Research Keywords

Fuzzy Logic
Genetic Algorithms
Intelligent Control
Legged Robot
Robotics

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title = "Intelligent walking motions and control for a legged robot",

abstract = "Legged vehicles have the advantage over traditional wheeled vehicles is that they are capable of travelling on virtually any type of terrain. To realise this advantage, legged robots must possess efficient control and gait generation strategies. This paper presents a novel technique that contributes to a unique control system that has been developed to provide walking/climbing motions for an advanced 8-legged robot, Robug IV. The robot is based on the emulation of arthropod walkers and climbers, and is powered by pneumatic actuators. A new Fuzzy-Logic Adaptive Gait (FLAG) algorithm has been developed to provide improved walking\climbing strategies.",

keywords = "Fuzzy Logic, Genetic Algorithms, Intelligent Control, Legged Robot, Robotics",

author = "Luk, {B. L.} and S. Galt and Cooke, {D. S.} and Hewer, {N. O.}",

year = "2015",

month = mar,

day = "24",

language = "English",

isbn = "9783952417355",

pages = "4756--4761",

booktitle = "European Control Conference, ECC 1999 - Conference Proceedings",

publisher = "IEEE",

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note = "1999 European Control Conference (ECC 1999) ; Conference date: 31-08-1999 Through 03-09-1999",

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T1 - Intelligent walking motions and control for a legged robot

AU - Luk, B. L.

AU - Galt, S.

AU - Cooke, D. S.

AU - Hewer, N. O.

PY - 2015/3/24

Y1 - 2015/3/24

N2 - Legged vehicles have the advantage over traditional wheeled vehicles is that they are capable of travelling on virtually any type of terrain. To realise this advantage, legged robots must possess efficient control and gait generation strategies. This paper presents a novel technique that contributes to a unique control system that has been developed to provide walking/climbing motions for an advanced 8-legged robot, Robug IV. The robot is based on the emulation of arthropod walkers and climbers, and is powered by pneumatic actuators. A new Fuzzy-Logic Adaptive Gait (FLAG) algorithm has been developed to provide improved walking\climbing strategies.

AB - Legged vehicles have the advantage over traditional wheeled vehicles is that they are capable of travelling on virtually any type of terrain. To realise this advantage, legged robots must possess efficient control and gait generation strategies. This paper presents a novel technique that contributes to a unique control system that has been developed to provide walking/climbing motions for an advanced 8-legged robot, Robug IV. The robot is based on the emulation of arthropod walkers and climbers, and is powered by pneumatic actuators. A new Fuzzy-Logic Adaptive Gait (FLAG) algorithm has been developed to provide improved walking\climbing strategies.

KW - Fuzzy Logic

KW - Genetic Algorithms

KW - Intelligent Control

KW - Legged Robot

KW - Robotics

UR - http://www.scopus.com/inward/record.url?scp=84930606347&partnerID=8YFLogxK

UR - https://www.scopus.com/record/pubmetrics.uri?eid=2-s2.0-84930606347&origin=recordpage

M3 - RGC 32 - Refereed conference paper (with host publication)

SN - 9783952417355

SP - 4756

EP - 4761

BT - European Control Conference, ECC 1999 - Conference Proceedings

PB - IEEE

T2 - 1999 European Control Conference (ECC 1999)

Y2 - 31 August 1999 through 3 September 1999

ER -

Intelligent walking motions and control for a legged robot

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