Global ETD Search

1	Haptic control and operator-guided gait coordination of a pneumatic hexapedal rescue robot Guerriero, Brian A. 10 July 2008 (has links) The Compact Rescue Crawler is a pneumatic legged robot. Two legs of a hexapod were designed and built. The legs are controlled directly from operator inputs. The operator gives foot position inputs through two PHANToM haptic controllers. A PD controller with a supplementary force gain-scheduler control stroke lengths of each cylinder. The force-based position control technique allows the robot feet to track operator inputs to within 10% position error. A guided gait algorithm was developed to allow the operator to control all 6 legs simply by haptically guiding the front two. The operator records successful and collision-free trajectories and the gait coordinator plays the trajectories through the rear legs as they approach the detected obstacles. This hybrid gait algorithm allows the robot to proceed through a hazardous environment, guided by an operator, but without taxing the input capabilities of the human operator. Haptic feedback Fluid power Robot Inverse kinematic Pneumatic Pneumatic servo control Legged robot Bilateral teleoperation Gait coordination Mobile robot Hydraulic engineering Human-computer interaction Pneumatic control Robotics Touch Robots Motion