Please use this identifier to cite or link to this item: http://bura.brunel.ac.uk/handle/2438/14928
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dc.contributor.authorPowell, R-
dc.contributor.authorAbbod, M-
dc.coverage.spatialNagoya, JAPAN-
dc.date.accessioned2017-07-17T13:12:54Z-
dc.date.available2017-01-01-
dc.date.available2017-07-17T13:12:54Z-
dc.date.issued2017-
dc.identifier.citation2017 3RD INTERNATIONAL CONFERENCE ON CONTROL, AUTOMATION AND ROBOTICS (ICCAR), 2017, pp. 212 - 216 (5)en_US
dc.identifier.issnhttp://gateway.webofknowledge.com/gateway/Gateway.cgi?GWVersion=2&SrcApp=PARTNER_APP&SrcAuth=LinksAMR&KeyUT=WOS:000404256400039&DestLinkType=FullRecord&DestApp=ALL_WOS&UsrCustomerID=f12c8c83318cf2733e615e54d9ed7ad5-
dc.identifier.issnhttp://gateway.webofknowledge.com/gateway/Gateway.cgi?GWVersion=2&SrcApp=PARTNER_APP&SrcAuth=LinksAMR&KeyUT=WOS:000404256400039&DestLinkType=FullRecord&DestApp=ALL_WOS&UsrCustomerID=f12c8c83318cf2733e615e54d9ed7ad5-
dc.identifier.urihttp://bura.brunel.ac.uk/handle/2438/14928-
dc.description.abstractIn this paper, we present an operational space inverse dynamics control law to control the motion of a six-legged robot for the humanitarian demining applications. The controller will ensure the tracking of a given centre of gravity (CoG) trajectory to keep it inside the supporting polygon formed by the stance legs. By achieving this, the balance of the body of the robot will be ensured. Additionally, the controller is capable to execute multiple tasks simultaneously. The control strategy consists of two stages. The first one is to generate a reference acceleration consistence with the robot dynamics. The second is to generate the torque that will give the desired acceleration in the task. We present a simulation on the robot that we designed in SolidWorks.en_US
dc.description.sponsorshipThe first author is extremely grateful to the financial support from the Iraqi Ministry of Higher Education and Scientific Research.en_US
dc.format.extent212 - 216 (5)-
dc.language.isoenen_US
dc.publisherIEEEen_US
dc.source3rd IEEE International Conference on Control, Automation and Robotics (ICCAR)-
dc.source3rd IEEE International Conference on Control, Automation and Robotics (ICCAR)-
dc.subjectScience & Technologyen_US
dc.subjectTechnologyen_US
dc.subjectAutomation & Control Systemsen_US
dc.subjectComputer Science, Artificial Intelligenceen_US
dc.subjectRoboticsen_US
dc.subjectComputer Scienceen_US
dc.subjecthexapod roboten_US
dc.subjectinverse kinematicsen_US
dc.subjectoperational space inverse dynamicsen_US
dc.subjectMANIPULATORSen_US
dc.subjectMOTIONen_US
dc.titleOperational Space Control in Hexapod Robot for Humanitarian Demining Applicationsen_US
dc.typeArticleen_US
dc.relation.isPartOf2017 3RD INTERNATIONAL CONFERENCE ON CONTROL, AUTOMATION AND ROBOTICS (ICCAR)-
pubs.finish-date2017-04-24-
pubs.finish-date2017-04-24-
pubs.publication-statusPublished-
pubs.start-date2017-04-22-
pubs.start-date2017-04-22-
Appears in Collections:Dept of Mechanical Aerospace and Civil Engineering Research Papers

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