EXPERIMENTAL EXAMINATION OF WALKING DIRECTIONAL CONTROL FOR A SIX-LEGGED ROBOT

摘要

The present paper discusses a control method for the location (x,y) and yaw angle of the body of a six-legged robot using a laser range finder. During walking, the location and yaw angle of the body are calculated by referring to these two fixed points obtained by the laser range finder. In the experiments, the validity of the proposed walking directional control method was examined for straight walking.