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Design of the three-bus control system utilising periodic relay for a centipede-like robot

Published online by Cambridge University Press:  16 December 2014

Tianqi Wei ,
Qingsheng Luo ,
Yang Mo ,
Yong Wang  and
Zhineng Cheng
Tianqi Wei*
Affiliation:
School of Mechatronical Engineering, Beijing Institute of Technology, Beijing, 100081, P.R. China
Qingsheng Luo
Affiliation:
School of Mechatronical Engineering, Beijing Institute of Technology, Beijing, 100081, P.R. China
Yang Mo
Affiliation:
School of Mechatronical Engineering, Beijing Institute of Technology, Beijing, 100081, P.R. China
Yong Wang
Affiliation:
School of Mechatronical Engineering, Beijing Institute of Technology, Beijing, 100081, P.R. China
Zhineng Cheng
Affiliation:
School of Mechatronical Engineering, Beijing Institute of Technology, Beijing, 100081, P.R. China
*
*Corresponding author E-mail: chitianqilin@163.com
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Summary

A centipede-like robot, which has high degrees of freedom (DOFs) and similar body segments, requires new real-time control to achieve diverse gaits. Therefore, we have studied the movement characteristics of multi-legged creatures and determined the features for a gait periodic relay. An instruction-relay control scheme, the three-bus control system and the required software were then designed. In our experiments with the designed control system, different gaits for the robot could be achieved, and the phase difference between body segments could be changed by altering the delay time. As a whole, this control system could accomplish the required control task and reasonably simplify the gait control algorithms and procedures.

Keywords

Multi-degreeModular chain multi-legged robotThree-bus control systemBionic designCentipedePeriodic relay
Type
Articles
Information
Robotica , Volume 34 , Issue 8 , August 2016 , pp. 1841 - 1854
Copyright
Copyright © Cambridge University Press 2014 

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