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From electropneumatical to electrical six-legged robot: Optimalisation of the sensor-based proprioceptive (kinematical) and exteroceptive (neurological) control

par Baudoin, Yvan;Preumont, André
Référence Proceedings of SPIE - The International Society for Optical Engineering, 2058, page (134-142)
Publication Publié, 1994-02

Article révisé par les pairs

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Résumé :

This paper describes two six-legged robots with hexagonal architecture: the first one of electropneumatical type is controlled by a neurolo9icai information system based on signals captured by optical and ultrasonic sensors, the second one, of electrical type, controlled on base of a detailed study (starting from the Song & Waldron's theorem [3]) of various kinds of kinematical gaits and of the transitions from one gait to the other one.