Hands to Hexapods, Wearable User Interface Design for Specifying Leg Placement for Legged Robots.

ABSTRACT: Specifying leg placement is a key element for legged robot control, however current methods for specifying individual leg motions with human-robot interfaces require mental concentration and the use of both arm muscles. In this paper, a new control interface is discussed to specify leg placement for hexapod robot by using finger motions. Two mapping methods are proposed and tested with lab staff, Joint Angle Mapping (JAM) and Tip Position Mapping (TPM). The TPM method was shown to be more efficient. Then a manual controlled gait based on TPM is compared with fixed gait and camera-based autonomous gait in a Webots simulation to test the obstacle avoidance performance on 2D terrain. Number of Contacts (NOC) for each gait are recorded during the tests. The results show that both the camera-ba

SUBMITTER: Zhou J 

PROVIDER: S-EPMC9048026 | biostudies-literature | 2022

REPOSITORIES: biostudies-literature