Hexapod leg control algorithm in fault conditions

Abstract

In this paper we present an algorithm which al-lows for the leg structure of a hexapod robot, in terms of the actuator blocking occurrence during walking, either a correct positioning (if it is possible) or a positioning in an acceptable proximity of the desired coordinates by mini-mising an optimal criteria (by the adequate commands to the functional elements). A synthesis of the commands to a poli-articulated hexapod robotic leg (3 segments) is pro-posing. First, a workspace analysis of the leg tip is made, then the algorithm for the actuators in the terms of a good walking (finding the optimal motions) and in terms of the blocking of some robotic leg segments is presented.