Force Control in Locomotion of Legged Vehicle and Body Movement for Mounting Operations

Abstract

: New results on the development of adaptive six-legged walking robots and their control systems are presented. The major parts of the paper considers control of foot forces distribution and control of body motion based on the information about the main force vector acting on the vehicle. We developed and experimentally tested algorithms for the inserting and drilling operation based on the force control. Rectangular and hexagonal vehicles are considered. Keywords : Walking robot, force sensing and control, active compliance and accommodation. commanded coordinates of the leg end to a high degree of accuracy. Write the radius vector of the i-th leg in the body- r (i) fixed coordinate system as the sum of several terms , where is the commanded posi- r (i) = rp (i) + Dr (i) + dr (i) rp (i) tion calculated by the leg motion control algorithms, Dr (i) is the elastic displacement of the leg-end, and is the dr (i) commanded position correction. Support reaction in the i-th..