Stair-climbing control of self-contained hexapod with semi-fixed gait

Abstract

A semi-fixed gait hexapod MELCRAB-2 was constructed as a self-contained walking robot to verify the usefulness of two strategies on actuator configuration design to solve the coupling problem in multi joint leg mechanism: 'gravitationally decoupled actuation' and 'motion decoupled actuation'. The paper provides the tactical algorithms to control it like the way to change the stride to adapt the various stairs. As MELCRAB-2 is a self-contained walking robot, these control schemes run on an on-board computer.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>