A control algorithm for hexapod mobile robot gait in fault conditions

The paper describes an algorithm for the movement control of a hexapod robot during a deficient walking. The control procedure applies to a robotic structure that has cooperative tasks in its set of activities and which implies a control system with two levels of hierarchy. The leg coordination and the force distribution are decided at the superior level which administrates all the necessary data. Following this process, the relevant information is sent to the subsystems from the inferior level (the legs of the hexapod robot). The control at local level is assured via local controllers which implement an algorithm based on the inverse kinematic method. The algorithm performs an analysis of the workspace and sets out the commands towards the robotic joints. The purpose of the algorithm is to minimize the movements and to apply suitable commands for the location of the functional joints in an acceptable proximity of the desired position.