ATTITUDE CONTROL OF SIX-LEGGED ROBOT USING OPTIMAL CONTROL THEORY

摘要

Recently, land-mine clearance activities have been addressed in the world. We proposed the mine detecting method using six-legged robot. Concerning the mine detecting work by legged robot on the mine field where is uneven terrain, the legged robot is demanded the stable mine detecting work. In this research, we propose a new attitude control method for a six-legged robot using optimal control theory. The proposed attitude control method is examined by 3-D simulations and the experiments of mine detecting six-legged robot.