This paper presents a framework for going from specifications to implementations of decentralized control strategies for multi-robot systems. In particular, we show how the use of Embedded Graph Grammars (EGGs) provides a tool for characterizing local interaction and control laws. This paper highlights some key implementation aspects of the EGG formalism, and develops and discusses experimental...

Aiming at the difficulties in motion control and performance analysis of hexapod robot, stm32 embedded processor is used to drive 18-channel steering gear board robot's motion. CAM Shift algorithm designed track centroid target moving robot calculate speed. The gait experiment straight line were carried out on self-developed prototype. results show that design integrates machine vision tracking...

RHex is a hexapod robot with compliant legs and only six actuated degrees of freedom. Its ability to traverse highly fractured and unstable terrain has already been documented. In this paper, we describe open loop controllers for our small robot to climb and descend regular stairs. The reliability is 90% (9/10) for climbing and 100% (10/10) for descending, based on ten successive trials. Specif...

This paper describes the initial closed-loop isolation testing of the Vibration Isolation and Suppression System (VISS) which can be used to isolate a precision payload from spacecraft borne disturbances. VISS utilizes six hybrid isolation struts in a hexapod configuration. The VISS experiment has recently been tested at the Phillips Laboratory and significant closed-loop vibration isolation wa...

This paper presents the mechanical design of an hybrid hexapod walking machine that has been designed and built at LARM: Laboratory of Robotics and Mechatronics in Cassino. Basic characteristics are investigated in order to design a leg system with suitable low-cost modular components. Moreover, special care has been addressed in proposing an architecture that can be easily operated by a PLC wi...

In this paper, we present a novel index, called the Generalized Control Number (GCTN ), which evaluates the closeness of a given non-singular configuration of a hexapod with UCU-legs to the next singularity. The GCTN is invariant with respect to similarity transformations (choice of units) and under Euclidean motions of the reference frame (choice of fixed frame). Moreover, this index indicates...