Abstract
In the paper new six-legged robot Messor II is described. The new machine is the improved version of the previous robot Messor. The current design has better power to mass ratio. Additionally new servos, which power the joint of the robot, allows for better control and motion execution. The paper contains three main parts. In the first section mechanical design is presented. Then, the electronic part of the robot is described. Next the control system of the robot is outlined.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
Similar content being viewed by others
References
Raibert, M.H.: Legged robots that balance. Massachusetts Institute of Technology, Cambridge (1986)
Walas, K., Belter, D., Kasiński, A.: Control and environment sensing system for a six-legged robot. Journal of Automation, Mobile Robotics & Intelligent Systems 2, 26–31 (2008)
Belter, D., Skrzypczynski, P.: A biologically inspired approach to feasible gait learning for a hexapod robot. Applied Mathematics and Computer Science 20, 69–84 (2010)
Walas, K., Belter, D.: Messor – Versatile Walking Robot for Search and Rescue Missions. Journal of Automation, Mobile Robotics & Intelligent Systems 5, 28–34 (2011)
Walas, K., Belter, D.: Supporting locomotive functions of a six-legged walking robot. Int. J. Appl. Math. Comput. Sci. 21, 363–377 (2011)
Łabecki, P., Walas, K., Kasinski, A.: Autonomous stair climbing with multisensor feedback. In: Proc. of the 18th World Congress, The International Federation of Automatic Control, Milano, Italy, pp. 8159–8164 (2011)
Walas, K., Kasinski, A.J.: Discrete event controller for urban obstacles negotiation with walking robot. In: IEEE IROS, pp. 181–186 (2012)
Belter, D., Skrzypczynski, P.: Posture optimization strategy for a statically stable robot traversing rough terrain. In: IEEE IROS, pp. 2204–2209 (2012)
Belter, D., Skrzypczynski, P.: Rough terrain mapping and classification for foothold selection in a walking robot. J. Field Robotics 28, 497–528 (2011)
Belter, D., Skrzypczynski, P.: Precise self-localization of a walking robot on rough terrain using parallel tracking and mapping. Industrial Robot: An International Journal 40, 229–237 (2013)
Walas, K.: Terrain Classification Using Vision, Depth and Tactile Perception. In: RSS Workshop RGB-D: Advanced Reasoning with Depth Cameras (2013); archived on the website of the workshop
Song, S.M., Waldron, K.: Machines that Walk. MIT Press, Cambridge (1989)
Krotkov, E., Bares, J., Kanade, T., Mitchell, T., Simmons, R., Whittaker, W.: Ambler: a six-legged planetary rover. In: International Conference on Advanced Robotics,Robots in Unstructured Environments (ICAR 1991), Pisa, Italy, pp. 712–722 (1991)
Spenko, M., Haynes, G.C., Saunders, J.A., Cutkosky, M.R., Rizzi, A.A., Full, R.J., Koditschek, D.E.: Biologically inspired climbing with a hexapedal robot. J. Field Robotics 25, 223–242 (2008)
Raibert, M., Blankespoor, K., Nelson, G., Playter, R.: Team, t.B.D.: Bigdog, the rough-terrain quadruped robot. In: Proc. of the 17th World Congress, The International Federation of Automatic Control, Seoul, Korea, pp. 10822–10825 (2008)
Kalakrishnan, M., Buchli, J., Pastor, P., Mistry, M., Schaal, S.: Fast, robust quadruped locomotion over challenging terrain. In: IEEE ICRA, pp. 2665–2670 (2010)
Barasuol, V., Buchli, J., Semini, C., Frigerio, M., de Pieri, E.R., Caldwell, D.G.: A reactive controller framework for quadrupedal locomotion on challenging terrain. In: IEEE ICRA, pp. 2554–2561 (2013)
Hutter, M., Gehring, C., Bloesch, M., Hoepflinger, M.A., Remy, C.D., Siegwart, R.: StarlETH: A compliant quadrupedal robot for fast, efficient, and versatile locomotion. In: Azad, A.K.M., Cowan, N.J., Tokhi, M.O., Virk, G.S. (eds.) Proceedings of the 15th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, pp. 483–490. World Scientific, Singapore (2012)
Rönnau, A., Heppner, G., Pfotzer, L., Dillmann, R.: LAURON V: Optimized Leg Configuration for the Design of a Bio-Inspired Walking Robot. In: Waldron, K.J., Tokhi, M.O., Virk, G.S. (eds.) Nature-Inspired Mobile Robotics, Proceedings of the 16th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, pp. 563–570. World Scientific, Singapore (2013)
Bartsch, S., Birnschein, T., Römmermann, M., Hilljegerdes, J., Kühn, D., Kirchner, F.: Development of the six-legged walking and climbing robot Space Climber. J. Field Robotics 29, 506–532 (2012)
Schilling, M., Paskarbeit, J., Schmitz, J., Schneider, A., Cruse, H.: Grounding an internal body model of a hexapod walker control of curve walking in a biologically inspired robot. In: IEEE IROS, pp. 2762–2768 (2012)
Gorner, M., Wimbock, T., Baumann, A., Fuchs, M., Bahls, T., Grebenstein, M., Borst, C., Butterfass, J., Hirzinger, G.: The DLR-Crawler: A testbed for actively compliant hexapod walking based on the fingers of DLR-Hand II. In: Proc. IEEE/RSJ Int. Conference on Intelligent Robots and Systems (IROS 2008), Nice, France, pp. 1525–1531 (2008)
de Santos, P.G., Cobanoa, J., Garcia, E., Estremera, J., Armada, M.: A six-legged robot-based system for humanitarian demining missions. Mechatronics 17, 417–430 (2007)
Kenzo, N., Qing-Jiu, H.: Humanitarian mine detecting six-legged walking robot and hybrid neuro walking control with position/force control. Mechatronics 13, 773–790 (2003)
Belter, D., Labecki, P., Skrzypczynski, P.: Estimating Terrain Elevation Maps from Sparse and Uncertain Multi-Sensor Data. In: IEEE 2012 International Conference on Robotics and Biomimetics, pp. 715–722. IEEE (2012)
Georg, K., David, M.: Parallel Tracking and Mapping for Small AR Workspaces. In: Proc. Sixth IEEE and ACM International Symposium on Mixed and Augmented Reality (ISMAR 2007), Nara, Japan (2007)
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2014 Springer International Publishing Switzerland
About this paper
Cite this paper
Belter, D., Walas, K. (2014). A Compact Walking Robot – Flexible Research and Development Platform. In: Szewczyk, R., Zieliński, C., Kaliczyńska, M. (eds) Recent Advances in Automation, Robotics and Measuring Techniques. Advances in Intelligent Systems and Computing, vol 267. Springer, Cham. https://doi.org/10.1007/978-3-319-05353-0_33
Download citation
DOI: https://doi.org/10.1007/978-3-319-05353-0_33
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-05352-3
Online ISBN: 978-3-319-05353-0
eBook Packages: EngineeringEngineering (R0)