Abstract
The new hexapod walking robot is assembly phase. It was design to overcome rough terrain using the latest numerical tests on the model. One of the likelihoods of walking on rough terrain is falling over. This posed the requirement that the robot had to be able to continue walking even after multiple falls. One of the goals was to create a control mechanism in the engine layer that will ensure optimal walk as well as protection from breaking down. In order to achieve the best results, it would be necessary to ensure the feedback of the torque, but there was no possibility for that. Thus the only solution was to feedback the engine power; however, such feedback will input a delay into the feedback branch anyway. The suitable Fuzzy rules are being sought for, which will help minimize the effects of the delay in the control branch. The fitness function is defined for determining the optimal hexapod walk algorithm. During the test the worst cases were tested with the lower arm of the robot closing in a 90 degree angle with the upper arm due to the fall, this is when the robot structure is endures maximum load.
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Kecskés, I., Odry, P. (2010). Protective Fuzzy Control of Hexapod Walking Robot Driver in Case of Walking and Dropping. In: Rudas, I.J., Fodor, J., Kacprzyk, J. (eds) Computational Intelligence in Engineering. Studies in Computational Intelligence, vol 313. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-15220-7_17
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DOI: https://doi.org/10.1007/978-3-642-15220-7_17
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