Continuous free-crab gaits for hexapod robots on a natural terrain with forbidden zones: An application to humanitarian demining |
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| Authors: | J Estremera JA Cobano P Gonzalez de Santos |
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| Affiliation: | 1. IRSEEM, Avenue Galilée, 76801 Saint-Etienne du Rouvray Cedex, France;2. LITIS Lab, Avenue de l''Université, 76801 Saint-Etienne du Rouvray Cedex, France;1. Advanced Design and Analysis Group, CSIR-Central Mechanical Engineering Research Institute, Durgapur 713209, India;2. Department of Mechanical Engineering, National Institute of Technology, Durgapur 713209, India;3. Department of Mechanical Engineering, Indian Institute of Technology, Kharagpur 721302, India;1. College of Shipbuilding Engineering, Harbin Engineering University, No. 145 Nantong Street, Nangang District, Harbin, 150001, PR China;2. Science and Technology on Underwater Vehicle Laboratory, Harbin Engineering University, No. 145 Nantong Street, Nangang District, Harbin, 150001, PR China;3. College of Information and Communication Engineering, Harbin Engineering University, No. 145 Nantong Street, Nangang District, Harbin, 150001, PR China;4. College of Mechanical and Electrical Engineering, Heilongjiang Institute of Technology, No. 999 Hongqi Street, Daowai District, 150050, PR China |
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| Abstract: | Autonomous robots are leaving the laboratories to master new outdoor applications, and walking robots in particular have already shown their potential advantages in these environments, especially on a natural terrain. Gait generation is the key to success in the negotiation of natural terrain with legged robots; however, most of the algorithms devised for hexapods have been tested under laboratory conditions. This paper presents the development of crab and turning gaits for hexapod robots on a natural terrain characterized by containing uneven ground and forbidden zones. The gaits we have developed rely on two empirical rules that derive three control modules that have been tested both under simulation and by experiment. The geometrical model of the SILO-6 walking robot has been used for simulation purposes, while the real SILO-6 walking robot has been used in the experiments. This robot was built as a mobile platform for a sensory system to detect and locate antipersonnel landmines in humanitarian demining missions. |
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