Review

Type Design and Behavior Control for Six Legged Robots

  • Ling Fang ,
  • Feng Gao
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  • State Key Laboratory of Mechanical System and Vibration, Shanghai Jiao Tong University, Shanghai 200240, China

收稿日期: 2018-02-26

  网络出版日期: 2019-07-23

基金资助

Supported by National Natural Science Foundation of China (Grant No. U1613208)

Type Design and Behavior Control for Six Legged Robots

  • Ling Fang ,
  • Feng Gao
Expand
  • State Key Laboratory of Mechanical System and Vibration, Shanghai Jiao Tong University, Shanghai 200240, China

Received date: 2018-02-26

  Online published: 2019-07-23

Supported by

Supported by National Natural Science Foundation of China (Grant No. U1613208)

摘要

The research on legged robots attracted much attention both from the academia and industry. Legged robots are multi-input multi-output with multiple end-effector systems. Therefore, the mechanical design and control framework are challenging issues. This paper reviews the development of type synthesis and behavior control on legged robots; introduces the hexapod robots developed in our research group based on the proposed type synthesis method. The control framework for legged robots includes data driven layer, robot behavior layer and robot execution layer. Each layer consists several components which are explained in details. Finally, various experiments were conducted on several hexapod robots. The summarization of the type synthesis and behavior control design constructed in this paper would provide a unified platform for communications and references for future advancement for legged robots.

本文引用格式

Ling Fang , Feng Gao . Type Design and Behavior Control for Six Legged Robots[J]. Chinese Journal of Mechanical Engineering, 2018 , 31(3) : 59 -59 . DOI: 10.1186/s10033-018-0259-9

Abstract

The research on legged robots attracted much attention both from the academia and industry. Legged robots are multi-input multi-output with multiple end-effector systems. Therefore, the mechanical design and control framework are challenging issues. This paper reviews the development of type synthesis and behavior control on legged robots; introduces the hexapod robots developed in our research group based on the proposed type synthesis method. The control framework for legged robots includes data driven layer, robot behavior layer and robot execution layer. Each layer consists several components which are explained in details. Finally, various experiments were conducted on several hexapod robots. The summarization of the type synthesis and behavior control design constructed in this paper would provide a unified platform for communications and references for future advancement for legged robots.

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