EFFECTIVENESS OF CLOSED-LOOP INVERSE-KINEMATIC LANDMARK NAVIGATION METHOD ON DRIFTING AND HEADING ERRORS OF IMPRECISE MULTI-LEGGED ROBOTS
Abstract
This work addresses the effectiveness of a closed-loop inverse-kinematic control methodology on alleviating drifting and heading errors in the walking and turning of a hexapod robot. Most work in this area focuses on stability, hardware design, and control. This work is aimed at controlling imprecise hardware on unknown structured environments. The proposed controller uses a camera and an ultrasonic sensor as sensory feedback. It also uses the well-known tripod gait for locomotion, implemented with the closed-loop inverse-kinematic method. Experimental results show the effectiveness of this approach in walking and turning the hexapod on an unknown surface.