Ganesh Vaidyanathan Subramanian
Motion Planning and Scheduling, Hybrid Robotic Control, State Machine, Walking cycle
A robot is a multi-functional manipulator that is generally controlled by programming a controller such as a PLC or Microcontroller to generate signals to carry out the desired sequence of operations. This requires a good familiarity of programming the controller and also the costly program memory for storing the code. This paper proposes a novel method of designing a motion controller that need not be programmed for controlling the motion of a Quadruped All Terrain Vehicle (QATV), which is a four legged robot that can walk on any terrain. The proposed method dispenses with the use of any programmable controller, the associated memory for storing the program and the also the task of programming the controller.
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