Publication detail

Step planning algorithm for n-legged walking robot with smooth direction control

KRÁLÍK, J. VENGLÁŘ, V.

Original Title

Step planning algorithm for n-legged walking robot with smooth direction control

Type

conference paper

Language

English

Original Abstract

Precise step-planning algorithm is important when we want to drive an n-legged walking robot. Probably the most widely used precise control system is based on neural networks, but those require a lot of computing power. The main goal of this paper is to propose a computationally efficient method for precise and smooth movement of a robot. An algorithm capable of computing end-step position based on movement around a circle was developed. It can be driven by control vector or (with minor modification) by a radius and a tangent. It is simple to implement, adjust and debug, and needs only a small amount of computational power. The proposed algorithm only generates the end points of each step. It can be used as a basis for more complex solution and can be also used in a system with a large number of legs. The movement of body, the kinematics of mechanical parts and the manipulation of center of mass must be solved by other algorithms.

Keywords

Walking robot, Planning Algorithm, Legged robot, Precise control, Quadruped

Authors

KRÁLÍK, J.; VENGLÁŘ, V.

Released

13. 5. 2019

ISBN

978-80-87012-71-0

Book

ENGINEERING MECHANICS 2019

Edition

First edition

Pages from

199

Pages to

202

Pages count

4

URL

http://www.engmech.cz/im/proceedings/show/2019

BibTex

@inproceedings{BUT158485,
  author="Jan {Králík} and Vojtěch {Venglář}",
  title="Step planning algorithm for n-legged walking robot with smooth direction control",
  booktitle="ENGINEERING MECHANICS 2019
",
  year="2019",
  series="First edition",
  pages="199--202",
  doi="10.21495/71-0-199",
  isbn="978-80-87012-71-0",
  url="http://www.engmech.cz/im/proceedings/show/2019"
}