Control of a six-legged-walking-machine working in uneven terrain

摘要

Autonomous walking of machines in uneven terrain is still an unsolved problem. The six-legged walking machine of the TU Munich has been constructed to manage uneven surfaces. The kinematics and basics of this system are derived from biological principles (4). The decentral control system, working with six computers, was able to do a straightforward walk on even surfaces (13). Now the control structure has been extended for walking in arbitrary directions and walking over uneven surfaces. Additional sensors and a further computer have been added on the robot. The system now is able to communicate with external devices. These devices can be a remote control, an external computer, or a navigation system. The only parameters to be sent to the robot are velocity and angular velocity of the machine's central body. the control system was developed and tested in computer simulations and on the walking machine.