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Coordinated intelligent adaptive control of legged robots
Proc. SPIE 6230, 62302C (2006); http://dx.doi.org/10.1117/12.666489
Monday 17 April 2006
Orlando (Kissimmee), FL, USA
Unmanned Systems Technology VIII
Grant R. Gerhart, Charles M. Shoemaker, Douglas W. Gage
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Add to FacebookIn 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.
© 2006 COPYRIGHT SPIE--The International Society for Optical Engineering. Downloading of the abstract is permitted for personal use only.
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Online May 09, 2006
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Lifford McLauchlan and Mehrübe Mehrübeoğlu, "Coordinated intelligent adaptive control of legged robots",
Proc. SPIE 6230, 62302C (2006); http://dx.doi.org/10.1117/12.666489
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