%0 Journal Article
%T Finite state automaton based control system for walking machines
%A Razeen Hussain
%A Rene Hexel
%A Teresa Zielinska
%J International Journal of Advanced Robotic Systems
%@ 1729-8814
%D 2019
%R 10.1177/1729881419853182
%X 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
%K Walking machines
%K control system
%K real-time control
%K finite state machines
%K behaviour models
%U https://journals.sagepub.com/doi/full/10.1177/1729881419853182