NDLI: A FWN-Based Distributed Hierarchical System for Hexapod Bio-Robot Control

Content Provider	IEEE Xplore Digital Library
Author	Qingsheng Luo Baoling Han Xin Mao Kun Wu Xingguang Duan
Copyright Year	2006
Description	Author affiliation: Dept. of Mechatronics Eng., Beijing Inst. of Technol. (Qingsheng Luo; Baoling Han; Xin Mao; Kun Wu; Xingguang Duan)
Abstract	The hexapod bio-robot possess significant advantages on uneven surfaces compared with other type locomotion systems. It has the ability of adapting itself to complex terrains in the way of imitating walking insects. A large computational capability, real-time control and advanced control strategy is required to coordinate many degrees-of-freedom (DOF) used in legged locomotion systems. In this paper a mechanical structure is presented which is controlled by the FWN-based distributed hierarchical control method based on human nervous system principal. The control system is composed of centre control module, locomotion control module and locomotion module which takes charge of the highest decision making and locomotion control of the every leg respectively. This control strategy and the embedded control system adopted in the robot provide powerful ability for dealing with the calculation of kinematics and dynamics that meets the requirement of real-time demand. To validate its effectiveness, the simulation is done and the results show the advantages of high static and dynamic performance, strong anti-disturbability and robustness
Starting Page	8943
Ending Page	8947
File Size	242749
Page Count	5
File Format	PDF
ISBN	1424403324
DOI	10.1109/WCICA.2006.1713729
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2006-06-21
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Hierarchical systems Control systems Legged locomotion Real time systems Insects Distributed control Humans Nervous system Decision making Leg distributed hierarchical control hexapod bio-robot FWN locomotion control
Content Type	Text
Resource Type	Article

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