Abstract
The paper considers the control system of the autonomous mobile robot CS-7 with eight supporting legs, installed on four hard frames in pairs. Advantages of the chosen design: energy absence to support machine weight and simpler algorithms of trajectory and reference points motion management.
Onboard control is designed as a scalable, modular distributed low-level microprocessor system, which comprises two major subsystems: information measurement for processing sensors data and robot actuators control.
Supervisory control mode is supported by the vision system based on time-of-flight cameras and a set of ultrasonic and infrared sensors, geosteering module for local and global robot positioning. Measuring information is transmitted to the control computer via Wi-Fi module.
Software for the upper-level computer and library of functions for low-level units are developed for the implementation of various robot motion algorithms. Functions define the basic parameters of orthogonal movers depending on the given route and environment map.
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Andreev, A., Zhoga, V., Serov, V., Skakunov, V. (2014). The Control System of the Eight-Legged Mobile Walking Robot. In: Kravets, A., Shcherbakov, M., Kultsova, M., Iijima, T. (eds) Knowledge-Based Software Engineering. JCKBSE 2014. Communications in Computer and Information Science, vol 466. Springer, Cham. https://doi.org/10.1007/978-3-319-11854-3_32
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DOI: https://doi.org/10.1007/978-3-319-11854-3_32
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