AMRU 3: teleoperated six-legged electrohydraulic robot

Eric Colon; Dr. Polome; V. Piedfort; Yvan Baudoin

doi:10.1117/12.198970

9 January 1995 AMRU 3: teleoperated six-legged electrohydraulic robot

Eric Colon, Dr. Polome, V. Piedfort, Yvan Baudoin

Proceedings Volume 2352, Mobile Robots IX; (1995) https://doi.org/10.1117/12.198970
Event: Photonics for Industrial Applications, 1994, Boston, MA, United States

Abstract

Legged robots represent an alternative to the wheeled or banded platforms and several reasons can justify the development of such architectures. We previously realized two electro- pneumatical robots. We chose to develop an outdoor six-legged electro-hydraulic robot. Our aim was to provide an autonomy of 30 minutes and the capacity to move on terrains with obstacles (maximum 20 cm) and with up- or down-slopes of maximum 30 degree(s). A specific simulation software was used to design the general structure and the legs. The particular design features of the robot lie in a cross-architecture and the inversion of the rear legs. The platform is controlled by a Programmable Logic Controller coupled with the necessary electronic interfaces allowing the teleoperation and the transmission of video signals. Several gaits have been implemented in order to adapt the walk to the environment. Their stability and performances are related.

Citation Download Citation

Eric Colon, Dr. Polome, V. Piedfort, and Yvan Baudoin "AMRU 3: teleoperated six-legged electrohydraulic robot", Proc. SPIE 2352, Mobile Robots IX, (9 January 1995); https://doi.org/10.1117/12.198970

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