Implementation of the Stable States Transition Control Algorithm for a Four Free Joints Walking Robot

摘要

The paper presents a systemic approach of a walking robot behavior and control in uncertain environments, with application to a hexapod robot. For simplicity, this paper considers only the vertical xz-plane evolution taking into account that the structure is symmetrical in the horizontal xy-plane and the results can be easily extended. Based on the mathematical model of the robot, determined considering all the points in the xz-plane as being complex numbers, a new concept of walking called SSTA, "Stable States Transition Approach", is proposed. Applications of this algorithm for a walking robot with four free joints are implemented on a user-friendly simulation and educational platform and also a control system development environment for control of walking robots systems - RoPa. All the examples demonstrate the efficacy of the proposed control algorithm.