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Open Architecture Systems for MERO Walking Robots Control

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Proceedings of the European Computing Conference

Part of the book series: Lecture Notes in Electrical Engineering ((LNEE,volume 28))

Abstract

The paper presents an Open Architecture system for the MERO walking modular robot, which is a robot on 3×6 degrees of freedom, autonomous, being able to interact with the environment. Starting from purpose kinematics and kinetostatics analysis the mathematic model of the inverted kinematics is determined for controlling the main trajectory that defines legs’ support and weigh centre positions. Related to this there is presented an Open Architecture system for the MERO robot position control in Cartesian coordinates through real time processing of the Jacobean matrix obtained out of the forward kinematics using the Denevit-Hartenberg method and calculating the Jacobean inverted matrix for feedback. The obtained results prove a significant reduction of the execution time for the real time control of MERO robot’s position in Cartesian coordinates and increased flexibility.

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References

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Author information

Authors and Affiliations

  1. Institute of Solid Mechanics, Romanian Academy, C-tin Mille 15, Bucharest, Romania

    Luige Vladareanu

  2. Tehnical University of Cluj Napoca, Politehnica University of Bucharest, Romania

    Radu Munteanu

  3. Institute of Solid Mechanics, Romanian Academy, Bucharest, Romania

    Adrian Curaj & Ion N. Ion

Authors
  1. Luige Vladareanu
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  2. Radu Munteanu
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  3. Adrian Curaj
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  4. Ion N. Ion
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Corresponding author

Correspondence to Luige Vladareanu .

Editor information

Editors and Affiliations

  1. Military Institutes of University, Hellenic Naval Academy, Leoforos Chatzikyriakou, Piraeus, 185 39, Greece

    Nikos Mastorakis

  2. Dept. Theoretical Electrical, Technical University of Sofia, Kl. Ohridski St. 8, Sofia, 1000, Bulgaria

    Valeri Mladenov

  3. Roumelis 6, Vrilissia, 152 35, Greece

    Vassiliki T. Kontargyri

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© 2009 Springer Science+Business Media, LLC

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Vladareanu, L., Munteanu, R., Curaj, A., Ion, I.N. (2009). Open Architecture Systems for MERO Walking Robots Control. In: Mastorakis, N., Mladenov, V., Kontargyri, V. (eds) Proceedings of the European Computing Conference. Lecture Notes in Electrical Engineering, vol 28. Springer, Boston, MA. https://doi.org/10.1007/978-0-387-85437-3_43

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  • DOI: https://doi.org/10.1007/978-0-387-85437-3_43

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  • Publisher Name: Springer, Boston, MA

  • Print ISBN: 978-0-387-84818-1

  • Online ISBN: 978-0-387-85437-3

  • eBook Packages: EngineeringEngineering (R0)

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