Fig. 17
From: Realization of rolling locomotion by a wheel-spider-inspired hexapod robot
Control system schematic for wheel-spider-inspired hexapod robot with rolling locomotion. Determining the final states of target trajectories and the activating times beforehand, the trajectories from current states to the final states are generated by the quintic interpolation trajectory generator when the states switched. The joints of the robot are worked by applying the PID controller