Abstract
Recently the development of the robotics technology is remarkable. Currently most of the large-scale robot designed is focused on various tasks especially for the hazardous operation and disaster situation such as earthquake. Therefore, this chapter has taken a part and designed a hydraulically actuated hexapod robot, namely, as Chiba university operating mine detection electronics tools (COMET) for multitasks on outdoor situation with the unknown environment. For the extreme environment cases, it is difficult to make it fully autonomous. Therefore, teleoperation-based system has been designed on the COMET-IV for extreme environment. The teleoperation assistant system is designed to understand the ambient environment and the movement condition of the robot including the legged robot changes which effect the height of the body and robot’s attitude. In this chapter, this operator is applied with omnidirectional vision sensor and 3D robot animation. The online 3D virtual reality technique is proposed to make synchronous control between virtual 3D animation and COMET-IV physical on the real environment. The teleoperation assistant system is verified through the experiment of the obstacle avoidance walking on the outdoor environment. Also, this chapter will describe the proposed method of 3D geometric combination with the designed numerical model-distributed data. On the other hand, this method is applied with the body movement coordination method (BMC) which is designed based on the center of the body of the robot and shoulder of each leg point. The 3D model is designed for hydraulic-based drive hexapod walking robot which is critically to be experimented directly without any strong pre-study. Moreover the force-based controlled walking is the current research for this hydraulic-drive robot current version named as COMET-IV. Therefore, in this chapter, the discussion will be on the 3D geometric modeling with the force-based controlled numerical model that is designed with BMC technique. Simple walking experiment has been done to verify this simulator and the results are nearly same as simulated.
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Nonami, K., Barai, R.K., Irawan, A., Daud, M.R. (2014). Teleoperated Locomotion Control of Hexapod Robot. In: Hydraulically Actuated Hexapod Robots. Intelligent Systems, Control and Automation: Science and Engineering, vol 66. Springer, Tokyo. https://doi.org/10.1007/978-4-431-54349-7_8
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DOI: https://doi.org/10.1007/978-4-431-54349-7_8
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