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

Yvan Baudoin; Andre J. Preumont

doi:10.1117/12.167489

1 February 1994 From electropneumatical to electrical six-legged robot: optimalization of the sensor-based proprioceptive (kinematical) and exteroceptive (neurological) control

Yvan Baudoin, Andre J. Preumont

Author Affiliations +

Proceedings Volume 2058, Mobile Robots VIII; (1994) https://doi.org/10.1117/12.167489
Event: Optical Tools for Manufacturing and Advanced Automation, 1993, Boston, MA, United States

Abstract

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

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Yvan Baudoin and Andre J. Preumont "From electropneumatical to electrical six-legged robot: optimalization of the sensor-based proprioceptive (kinematical) and exteroceptive (neurological) control", Proc. SPIE 2058, Mobile Robots VIII, (1 February 1994); https://doi.org/10.1117/12.167489

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