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Six-legged walking robot for inspection tasks

机译：六足步行机器人进行检查任务

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This paper presents an approach to the design and control of a reconfigurable walking robot. Based on biological inspiration a six-legged robot conception was proposed. In the first part the mechanical structure, basic kinematical and dynamical dependences of the robot legs are described. The structure, kinetics rules, gait patterns etc. are derived from typical stick insects. The body and the legs of the robot are designed and made according to the above assumptions. Eighteen DC servomotors with resistant encoders were used on the legs. In addition one DC servomotor on the robot head was introduced for sensors or a vision system. In the second part a control system is discussed. The control unit is based on the AVR Atmega8/16 microcontrollers which are responsible for generating movement trajectory and at the same time for controlling all the servomotors. For the proposed control system different gait algorithms and behaviour rules including a forward/back movement, and avoidice of obstacles are worked out. They allow the robot to work autonomously or to be operated by an operator with a remote control. In addition, during the walk the algorithms can match the type of attitudes and gaits to an environment. Next, some experiments of walking for different control algorithms are carried out and described. At the end some conclusions and the directions of further research are given.
机译：本文提出了一种可重构步行机器人的设计和控制方法。基于生物学灵感，提出了六足机器人概念。在第一部分中，描述了机械臂的机械结构，基本运动学和动力学依赖性。结构，动力学规则，步态模式等均来自典型的竹节虫。机器人的身体和腿部是根据上述假设设计和制造的。腿上使用了十八个带有电阻编码器的直流伺服电机。另外，在机器人头上引入了一个直流伺服电机，用于传感器或视觉系统。在第二部分中，讨论了控制系统。该控制单元基于AVR Atmega8 / 16微控制器，该微控制器负责产生运动轨迹并同时控制所有伺服电机。对于所提出的控制系统，研究了不同的步态算法和行为规则，包括前进/后退运动和避免障碍物。它们使机器人可以自主工作或由操作员通过遥控器进行操作。另外，在行走过程中，算法可以使姿势和步态的类型与环境相匹配。接下来，进行并描述了针对不同控制算法的步行实验。最后给出了一些结论和进一步研究的方向。

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