Walking biped robot with distributed hierarchical control system

摘要

An anthropomorphic biped robot is presented. The advantage of legged locomotion in rough terrain and in confined spaces has been investigated extensively in recent years. Biped robotic research has focused on imitation of human anthropomorphic form with the ultimate goal being the creation of the "Droid" or artificial human. An alternative use for biped robots is proposed as materials handling platforms for use in confined spaces or areas where irregularities in terrain prohibit access to conventional materials handling vehicles. The operational criteria and design strategy for the device, which has been built, are defined. The major components of the robot's sensory, navigation, actuation and control systems are highlighted. Finally, the control software strategy and initial results are presented.