RESEARCH ON THE YAW ANGLE CONTROL STRATEGY OF HEXAPOD ROBO WITH TACTILE SENSOR FEEDBACK, 46-55.

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