Open Access Open Access  Restricted Access Subscription Access

Walking Direction Control of Six-legged Robot by Time-varying Feedback System

H. Uchida


This paper dealt with a control method for an achieving walking not to follow the desired angle of the rotating links between supporting phase. In this study, we proposed a new control method to control the body in the walking direction. Concretely, mathematical model in the walking direction was derived, optimal servo systems of the time-varying system and the time-invariant system were composed, and the effectiveness of the proposed control methods were verified by 3D simulations.

Full Text:



Gao, J. 2006. Design and Kinematic Simulation for Six-DOF Leg Mechanism of Hexapod Robot, Proceedings of IEEE International Conference on Robotics and Biomimetics : 625 - 629

Inoue, K., Tsurutani, T., Takubo, T. & Arai, T. 2006. Omnidirectional Gait of Limb Mechanism Robot Hanging from Grid-like Structure, Proceedings of the 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems: 1732 - 1737

Nickols, F., 2006. Emergent Behaviour Real-time Programming of a Six-Legged Omni-Directional Mobile Robot: Strategy of Viennese Waltz behavior, Proc. of 9th Int. Conf. on Automation, Robotics and Vision, 5-8: 1 - 6

Lei, Z., Shugen, M., Inoue, K. & Honda, Y., 2005. Omnidirectional Walking of a Quadruped Robot with Optimal Body Postures on a Slope, Proceedings of the 2005 IEEE International Conference on Robotics and Automation (ICRA): 2976 - 2981

Tomiyama, T. & Wada, H., 2002. Omni-directional walking of a quadruped robot, Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems, vol.3: 2605 - 2612

Hirose, S. & Arikawa, K. 1999. Development of Quadruped Walking Robot TITAN–VIII for Commercially Available Research Platform, Journal of Robotic Society of Japan, 17-8:1191-1197. (Japanese)

Uchida, H. 2010. Posture Control of Six-Legged Robot in Consideration of Actuator Dynamics, Transactions of the Japan Society of Mechanical Engineers, Series C, 69-685 : 2315-2322. (Japanese)

Uchida, H. & Nonami, K.. 2002. Attitude Control of Six-Legged Robot Using Optimal Control Theory, Proceedings of 6th International Conference on Motion and Vibration Control, Vol. 1: 391-396.



  • There are currently no refbacks.