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  • Finite state automaton based control system for walking machines

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    Hexel230515.pdf (784.5Kb)
    Author(s)
    Hussain, Razeen
    Zielinska, Teresa
    Hexel, Rene
    Griffith University Author(s)
    Hexel, Rene
    Year published
    2019
    Metadata
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    Abstract
    Walking machines have proved to be an important invention as they do not require any prepared surface, making them ideal for applications involving unexplored environments. They are equipped with a large number of actuators and sensors to achieve a robust locomotion; thus, a systematic approach to designing their control system is required. This article presents a functional control structure based on the logic-labelled finite state automaton approach developed for walking machines. A general control structure is presented and a hexapod robot is used to verify the practicability of the design.Walking machines have proved to be an important invention as they do not require any prepared surface, making them ideal for applications involving unexplored environments. They are equipped with a large number of actuators and sensors to achieve a robust locomotion; thus, a systematic approach to designing their control system is required. This article presents a functional control structure based on the logic-labelled finite state automaton approach developed for walking machines. A general control structure is presented and a hexapod robot is used to verify the practicability of the design.
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    Journal Title
    INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS
    Volume
    16
    Issue
    3
    DOI
    https://doi.org/10.1177/1729881419853182
    Copyright Statement
    © 2019 The Authors. This article is distributed under the terms of the Creative Commons Attribution 4.0 License (http://www.creativecommons.org/licenses/by/4.0/) which permits any use, reproduction and distribution of the work without further permission provided the original work is attributed as specified on the SAGE and Open Access pages (https://us.sagepub.com/en-us/nam/open-access-at-sage).
    Subject
    Engineering
    Psychology
    Walking machines
    Control system
    Real-time control
    Finite state machines
    Behaviour models
    Publication URI
    http://hdl.handle.net/10072/386117
    Collection
    • Journal articles

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