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Browsing by Subject "sensor system"

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  • thumbnail.journal.alt
    Item type:Article, Access status: Open Access ,
    Experimental construction of walking robot
    (Wydawnictwa AGH, 2008) Babiarz, Artur; Jaskot, Krzysztof
    The paper presents an experimental construction of six legs walking robot. In the paper, we consider problem of control six legs robot with eighteen servomotors. Each of the legs is equipped in three servomotors what mean 3DOF (degree of freedom) per leg. Using multiprocessor architecture, one microcontroller for servo control and one for analyse data from sensors are described. Mobile robot is a machine that can operate in a human-made environment. By control, in this case we will understand to be able to avoid collisions with obstacles during walk in unknown environment. Legs movement algorithm is described. Presented algorithm generates movement of legs with surface detection. All of presented algorithms were written in C language. Results of real application are also shown. Preliminary results of work on fully autonomous walking robot that can operate in human environment are presented.