Control of Actuators in Multilegged Robots

The increased interest in robotics has led to the integration of robots in automated manufacturing systems. Since the robot’s area of operation (workspace) is limited by its reach, modification of some working environments is required in order to put the workpiece within the robot’s reach. One can also envision applications where considerable distance must be traversed by the robot to reach its workpiece. One example may be in crisis management, where the presence of human operators may not be possible. For instance, in the case of a nuclear reactor accident where the radiation level may exceed the safe level for human operators, a number of robots could be deployed to the accident site for assessment of damages and possible repairs.