Finite state automaton based control system for walking machines

Razeen Hussain , Teresa Zielińska , Rene Hexel


Walking machines have proved to be an important invention as they do not require any prepared surface, making them ideal for applications involving unexplored environments. They are equipped with a large number of actuators and sensors to achieve a robust locomotion; thus, a systematic approach to designing their control system is required. This article presents a functional control structure based on the logic-labelled finite state automaton approach developed for walking machines. A general control structure is presented and a hexapod robot is used to verify the practicability of the design.
Author Razeen Hussain
Razeen Hussain,,
, Teresa Zielińska (FPAE / IAAM)
Teresa Zielińska,,
- The Institute of Aeronautics and Applied Mechanics
, Rene Hexel
Rene Hexel,,
Journal seriesInternational Journal of Advanced Robotic Systems, ISSN 1729-8806, e-ISSN 1729-8814
Issue year2019
Publication size in sheets0.65
Keywords in EnglishWalking machines, control system, real-time control, finite state machines, behaviour models
ASJC Classification1702 Artificial Intelligence; 1706 Computer Science Applications; 1712 Software
Languageen angielski
Score (nominal)40
Score sourcejournalList
ScoreMinisterial score = 40.0, 06-07-2020, ArticleFromJournal
Publication indicators WoS Citations = 0; Scopus Citations = 0; Scopus SNIP (Source Normalised Impact per Paper): 2018 = 0.86; WoS Impact Factor: 2015 = 0.615 (2) - 2015=0.659 (5)
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