Omni-directional Hexapod Robot: Programming its Central Pattern Generator


This chapter is concerned with programming the Central Pattern Generator, the CPG, of an omnidirectional six-legged robot which is called The Hexapod Robot, figure 11.1. The CPG will be programmed to walk the Hexapod Robot through the same figure-of-eight path that was used in preceding chapters for the Tricycle and Rickshaw Robots. Note that chapter 8 should be reviewed because this current chapter delves straight into programming walking gaits that walk the robot CW or CCW around an ICofR.

11.2The hierarchical, multi-cored, parallel processing microcomputer control system of the Hexapod Robot
11.3Precision programming the Hexapod Robot to follow a Figure-of-Eight path
11.4Programme to implement Translational Figure-of-Eight programme
11.5Programme to follow a curved Figure-of-Eight path
11.6Calculations of, plangle, and, amp, for each leg to negotiate the curved figure- of-eight.
11.7Programme code to implement the curved figure-of-eight walking pattern
11.8Closing comments

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