The kinematic configuration and joint degrees of freedom for Robot III have been designed based upon motion studies of cockroach walking on smooth terrain and over barriers: 3 articulated joints (2 active) in the rear legs, 3 or 4 degrees of freedom in the middle leg, and 4 or 5 degrees of freedom in the front leg. The rear legs are used primarily to drive the cockroach, the middle legs are used for support and turning and to lift the body during climbing, and the front legs are typically used as sensors to help find footholds in climbing. A CAD model of the robot has been developed to help us design its overall structure.
Cockroach-Like Hexapod Robot for Natural Terrain Locomotion
1996
7 pages
Report
Keine Angabe
Englisch
Computers, Control & Information Theory , Robots , Prototypes , Locomotion , Kinematics , Detectors , Models , Walking , Motion , Degrees of freedom , Configurations , Weight , Barriers , Legs , Climbing , Terrain
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