ISSN:
1662-7482
Source:
Scientific.Net: Materials Science & Technology / Trans Tech Publications Archiv 1984-2008
Topics:
Mechanical Engineering, Materials Science, Production Engineering, Mining and Metallurgy, Traffic Engineering, Precision Mechanics
Notes:
A crab-like octopod robot is introduced in this paper. The body structure of the robot issimuliar with a real crab. Each leg has three jionts which are driven by servomotors. The controlsystem is a distributed hierarchical system with a top layer as gait generator and a bottom layer asservomotor controller. The bottom layer has enght individual control units every of which cancontrol three servomotors using PID control method. The sensor systerm is composed of forcesensors mounted at the end of the leg and a inclinometer provides pitch and roll angles of the body
Type of Medium:
Electronic Resource
URL:
http://www.tib-hannover.de/fulltexts/2011/0528/01/38/transtech_doi~10.4028%252Fwww.scientific.net%252FAMM.10-12.263.pdf
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