RESEARCH ON THE YAW ANGLE CONTROL STRATEGY OF HEXAPOD ROBO WITH TACTILE SENSOR FEEDBACK

Qian Wang, Bo Jin, Ce Zhang, and Shidong Zhang

Keywords

Hexapod robot, yaw angle control, ground contact feedback

Abstract

This paper presents a straightforward yet effective yaw angle feedback control strategy for a hexapod walking robot. The robot’s motion is corrected using the yaw angle provided by an IMU module. Kinematic models were analysed for both straight and turning gaits, and a PD controller was implemented for closed- loop control. Additionally, the tactile sensors on the foot tips were used to detect ground contact of the swing legs, and the foot trajectories were adjusted in real-time to minimise attitude deviations. The experiment results confirmed the effectiveness of the proposed strategies.

Important Links:



Go Back