Finite state automaton based control system for walking machines
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 d...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
| Published: |
SAGE Publishing
2019-05-01
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| Series: | International Journal of Advanced Robotic Systems |
| Online Access: | https://doi.org/10.1177/1729881419853182 |
| _version_ | 1818134680995627008 |
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| author | Razeen Hussain Teresa Zielinska Rene Hexel |
| author_facet | Razeen Hussain Teresa Zielinska Rene Hexel |
| author_sort | Razeen Hussain |
| collection | DOAJ |
| description | 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. |
| first_indexed | 2024-12-11T09:12:29Z |
| format | Article |
| id | doaj.art-7d397f803bc845768736ff8b5d8e449c |
| institution | Directory Open Access Journal |
| issn | 1729-8814 |
| language | English |
| last_indexed | 2024-12-11T09:12:29Z |
| publishDate | 2019-05-01 |
| publisher | SAGE Publishing |
| record_format | Article |
| series | International Journal of Advanced Robotic Systems |
| spelling | doaj.art-7d397f803bc845768736ff8b5d8e449c2022-12-22T01:13:28ZengSAGE PublishingInternational Journal of Advanced Robotic Systems1729-88142019-05-011610.1177/1729881419853182Finite state automaton based control system for walking machinesRazeen Hussain0Teresa Zielinska1Rene Hexel2 Faculty of Power and Aeronautical Engineering, Warsaw University of Technology, Warsaw, Poland Faculty of Power and Aeronautical Engineering, Warsaw University of Technology, Warsaw, Poland School of Information and Communication Technology, Griffith University, Brisbane, AustraliaWalking 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.https://doi.org/10.1177/1729881419853182 |
| spellingShingle | Razeen Hussain Teresa Zielinska Rene Hexel Finite state automaton based control system for walking machines International Journal of Advanced Robotic Systems |
| title | Finite state automaton based control system for walking machines |
| title_full | Finite state automaton based control system for walking machines |
| title_fullStr | Finite state automaton based control system for walking machines |
| title_full_unstemmed | Finite state automaton based control system for walking machines |
| title_short | Finite state automaton based control system for walking machines |
| title_sort | finite state automaton based control system for walking machines |
| url | https://doi.org/10.1177/1729881419853182 |
| work_keys_str_mv | AT razeenhussain finitestateautomatonbasedcontrolsystemforwalkingmachines AT teresazielinska finitestateautomatonbasedcontrolsystemforwalkingmachines AT renehexel finitestateautomatonbasedcontrolsystemforwalkingmachines |