Hexapod control system and software

Fractional Order Control of a Hexapod Robot

This paper studies the performance of integer and fractional order controllers in a hexapod robot with joints at the legs having viscous friction and flexibility. For that objective the robot prescribed motion is characterized in terms of several locomotion variables. The walking performance is analysed through the Nyquist stability criterion and several indices that reflect the system dynamica...

Hexapod Control through a Fractional Algorithm

This paper studies the performance of a Fractional Order controller in a hexapod robot with joint leg actuators having saturation. For that objective the robot prescribed motion is characterized in terms of several locomotion variables. Moreover, two indices measure the walking performance based on the mean absolute density of energy per travelled distance and on the hip trajectory errors. A se...

Hexapod leg control algorithm in fault conditions

When viewed as a subset of R, the shape or geometry of the work envelope varies from robot to robot. However, the work envelope can also be viewed within the framework of joint space R. In joint space, the work envelope is typically characterised by bounds on linear combinations of joint variables. The constraints of this nature generate a convex polyhedron in R named the joint-space work envel...

Control of Hexapod Walking in Biological Systems

To investigate walking we perform experimental studies on animals in parallel with software and hardware simulations of the control structures and the body to be controlled. In this paper, we will first describe the basic behavioral properties of hexapod walking, as the are known from stick insects. Then we describe a simple neural network called Walknet which exemplifies these properties and a...

Omnidirectional Control of the Hexapod Robot TigerBug