OpenSHC: A Versatile Multilegged Robot Controller
| Autor: | Alberto Elfes, Benjamin Tam, Ryan Steindl, Navinda Kottege, Fletcher Talbot |
|---|---|
| Rok vydání: | 2020 |
| Předmět: |
FOS: Computer and information sciences
0209 industrial biotechnology General Computer Science Computer science 02 engineering and technology Kinematics Degrees of freedom (mechanics) Computer Science - Robotics 03 medical and health sciences 020901 industrial engineering & automation Control theory General Materials Science Simulation robot control ComputingMethodologies_COMPUTERGRAPHICS 030304 developmental biology Flexibility (engineering) 0303 health sciences Hexapod Robot kinematics General Engineering mechanism design Gait legged robots Legged locomotion Robot lcsh:Electrical engineering. Electronics. Nuclear engineering Actuator Robotics (cs.RO) lcsh:TK1-9971 |
| Zdroj: | IEEE Access, Vol 8, Pp 188908-188926 (2020) |
| ISSN: | 2169-3536 |
| Popis: | Multilegged robots have the ability to perform stable locomotion on relatively rough terrain. However, the complexity of legged robots over wheeled or tracked robots make them difficult to control. This paper presents OpenSHC (Open-source Syropod High-level Controller), a versatile high-level controller {capable of generating gaits and poses for quasi-static multilegged robots, both simulated and with real hardware implementations. With full Robot Operating System (ROS) integration, the controller can be quickly deployed on robots with different actuators and sensor payloads}. The flexibility of OpenSHC is demonstrated on the 30 degrees of freedom hexapod Bullet, analysing the energetic performance of various leg configurations, kinematic arrangements and gaits over different locomotion speeds. With OpenSHC being easily configured to different physical and locomotion specifications, a hardware-based parameter space search for optimal locomotion parameters is conducted. The experimental evaluation shows that the mammalian configuration offers lower power consumption across a range of step frequencies; with the insectoid configuration providing performance advantages at higher body velocities and increased stability at low step frequencies. OpenSHC is open-source and able to be configured for various number of joints and legs. 17 pages, 23 figures, in IEEE Access |
| Databáze: | OpenAIRE |
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