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Proceedings Paper

From electropneumatical to electrical six-legged robot: optimalization of the sensor-based proprioceptive (kinematical) and exteroceptive (neurological) control
Author(s): Yvan Baudoin; Andre J. Preumont
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Paper Abstract

This paper describes two six-legged robots with hexagonal architecture: the first one, of electropneumatical type, is controlled by a neurological information system based on signals captured by optical and ultrasonic sensors; the second one, of electrical type, is controlled on the basis of a detailed study (starting from the Song & Waldron's theorem) of various kinds of kinematical gaits and of the transitions from one gait to the other.

Paper Details

Date Published: 1 February 1994
PDF: 9 pages
Proc. SPIE 2058, Mobile Robots VIII, (1 February 1994); doi: 10.1117/12.167489
Show Author Affiliations
Yvan Baudoin, Royal Military Academy (Belgium)
Andre J. Preumont, Free Univ. of Brussels (Belgium)


Published in SPIE Proceedings Vol. 2058:
Mobile Robots VIII
William J. Wolfe; Wendell H. Chun, Editor(s)

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