Operational Space Control in Hexapod Robot for Humanitarian Demining Applications

Abstract

In 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.