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Proceedings Paper

Coordinated intelligent adaptive control of legged robots
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Paper Abstract

In planetary or hazardous environment exploration, there will be unforseen environmental circumstances which can not be planned. To overcome telerobotic control issues due to communication delays, autonomous robot control becomes necessary. Autonomously controlled landers and instrumentation can be used in exploration, such as lunar and martian missions. However, wheeled robots have difficulty in exploring uneven terrain; thus, legged robots can be used in such situations. This research develops intelligent and adaptive control of mobile robots to perform functions such as environmental exploration in coordination and obstacle avoidance. The coordinated control is demonstrated in simulations.

Paper Details

Date Published: 9 May 2006
PDF: 10 pages
Proc. SPIE 6230, Unmanned Systems Technology VIII, 62302C (9 May 2006);
Show Author Affiliations
Lifford McLauchlan, Texas A&M Univ., Kingsville (United States)
Mehrübe Mehrübeoğlu, Texas A&M Univ. , Corpus Christi (United States)

Published in SPIE Proceedings Vol. 6230:
Unmanned Systems Technology VIII
Grant R. Gerhart; Charles M. Shoemaker; Douglas W. Gage, Editor(s)

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