Finite state automaton based control system for walking machines

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Author(s)
Hussain, Razeen
Zielinska, Teresa
Hexel, Rene
Griffith University Author(s)
Year published
2019
Metadata
Show full item recordAbstract
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
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