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Nonlinear controller of arachnid mechanism based on Theo Jansen

Abstract:

This paper presents a new motion controller for arachnid mechanism based on Theo Jansen that is capable of performing path-following tasks. The proposed controller has the advantage of simultaneously performing the approximation of the arachnid robot to the proposed path by the shortest route and limiting its velocity. Furthermore, it is presents the kinematic modeling of the arachnid mechanism where it is considered that its mass center is located at the legs’ axis center of the robot. In addition, the stability is proven through Lyapunov’s method. To validate the proposed control algorithm, experimental results are included and discussed.