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.
| Identifer | oai:union.ndltd.org:GATECH/oai:smartech.gatech.edu:1853/24626 |
| Date | 10 July 2008 |
| Creators | Guerriero, Brian A. |
| Publisher | Georgia Institute of Technology |
| Source Sets | Georgia Tech Electronic Thesis and Dissertation Archive |
| Detected Language | English |
| Type | Thesis |
Page generated in 0.0026 seconds