Intelligent gait control of a multilegged robot used in rescue operations

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2003

Author

Karalarlı, Emre

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In this thesis work an intelligent controller based on a gait synthesizer for a hexapod robot used in rescue operations is developed. The gait synthesizer draws decisions from insect-inspired gait patterns to the changing needs of the terrain and that of rescue. It is composed of three modules responsible for selecting a new gait, evaluating the current gait, and modifying the recommended gait according to the internal reinforcements of past time steps. A Fuzzy Logic Controller is implemented in selecting the new gaits.

Subject Keywords

Robots, Robotics

URI

http://etd.lib.metu.edu.tr/upload/1056860/index.pdf
https://hdl.handle.net/11511/13781

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Graduate School of Natural and Applied Sciences, Thesis

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Citation Formats

E. Karalarlı, “Intelligent gait control of a multilegged robot used in rescue operations,” M.S. - Master of Science, Middle East Technical University, 2003.