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Hexagonal walking vehicle with force sensing capability

: Schmucker, U.; Schneider, A.; Ihme, T.

Fulltext urn:nbn:de:0011-px-170101 (116 KByte PDF)
MD5 Fingerprint: 4d6ea41da772d54761a957a52548be39
Created on: 04.10.1999

ISMCR '96. 6th International IMEKO-Symposium on Measurement and Control in Robotics. Proceedings
Brussels, 1996
International Symposium on Measurement and Control in Robotics <6, 1996, Brussels>
Conference Paper, Electronic Publication
Fraunhofer IFF ()
accomodation control; active compliance; force distribution; force sensing; walking robot

New results on the development of an adaptive six-legged hexagonal walking robot and its control system are presented. The major part of the paper considers control of foot force distribution and control of body motion based on the information about force foot reactions and the information about the main force vector acting on the robot's body. Inserting and drilling operations based on the force control are considered.