Finite state automaton based control system for walking machines

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...

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Bibliographic Details
Main Authors: Razeen Hussain, Teresa Zielinska, Rene Hexel
Format: Article
Language:English
Published: SAGE Publishing 2019-05-01
Series:International Journal of Advanced Robotic Systems
Online Access:https://doi.org/10.1177/1729881419853182
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spelling doaj-7d397f803bc845768736ff8b5d8e449c2020-11-25T01:23:56ZengSAGE 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
collection DOAJ
language English
format Article
sources DOAJ
author Razeen Hussain
Teresa Zielinska
Rene Hexel
spellingShingle Razeen Hussain
Teresa Zielinska
Rene Hexel
Finite state automaton based control system for walking machines
International Journal of Advanced Robotic Systems
author_facet Razeen Hussain
Teresa Zielinska
Rene Hexel
author_sort Razeen Hussain
title Finite state automaton based control system for walking machines
title_short 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_sort finite state automaton based control system for walking machines
publisher SAGE Publishing
series International Journal of Advanced Robotic Systems
issn 1729-8814
publishDate 2019-05-01
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.
url https://doi.org/10.1177/1729881419853182
work_keys_str_mv AT razeenhussain finitestateautomatonbasedcontrolsystemforwalkingmachines
AT teresazielinska finitestateautomatonbasedcontrolsystemforwalkingmachines
AT renehexel finitestateautomatonbasedcontrolsystemforwalkingmachines
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