Coordinated intelligent adaptive control of legged robots

Details Coordinated intelligent adaptive control of legged robots Coordinated intelligent adaptive control of legged robots

Jun 2006

adsabs.harvard.edu/cgi-bin/nph-data_query?bibcode=2006spie.6230e..76m&link_type=abstract

Unmanned Systems Technology VIII. Edited by Gerhart, Grant R.; Shoemaker, Charles M.; Gage, Douglas W.. Proceedings of the SPI

Physics

Scientific paper

In planetary or hazardous environment exploration, there will be unforseen environmental circumstances which can not be planned. To overcome telerobotic control issues due to communication delays, autonomous robot control becomes necessary. Autonomously controlled landers and instrumentation can be used in exploration, such as lunar and martian missions. However, wheeled robots have difficulty in exploring uneven terrain; thus, legged robots can be used in such situations. This research develops intelligent and adaptive control of mobile robots to perform functions such as environmental exploration in coordination and obstacle avoidance. The coordinated control is demonstrated in simulations.

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