Hamlet: force/position controlled hexapod walker - design and systems

Abstract

Hamlet is a hexapod walker constructed at the University of Canterbury, New Zealand, to test the effectiveness of combined force and position control to achieve robust, adaptable walking over rough and unknown environments. In particular the authors propose that compliance behaviours using the horizontal force measured at the feet will allow the robot to navigate slippery and dynamic surfaces such as gravel and rocks that move under contact with the feet. A soft, biologically motivated, gait generator will be employed for maximum capability. The robot and its systems are described, and the position-based compliance control strategy used is elaborated on.