Abstract It is one of the important goals of the kinematics research of the foot robot to realize the stable walking of the robot under complex terrain. In order to solve the walking problem of hexapod robots in slope environment, the inverse kinematics equation of leg is deduced from the kinematics analysis of single leg of robot. Considering the motion posture of the body, the parametric motion curve of the foot of the swinging leg is programmed, and the different requirements are met by adjusting the parameters. According to the inclination of the slope, the center motion of the organism is planned. The movement of the center motion of the body is combined with the motion of the foot of the swinging leg to achieve the steady walking of the robot slope. The validity is verified by simulation and physical prototype experiment.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Steady Walking on the Slope of Hexapod Robot Considering Posture


    Beteiligte:
    Wang, Zhe (Autor:in) / Zhang, Lei (Autor:in) / Wang, Fucai (Autor:in)


    Erscheinungsdatum :

    2018-10-05


    Format / Umfang :

    8 pages





    Medientyp :

    Aufsatz/Kapitel (Buch)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch




    Control of the hexapod walking robot

    Zubavičius, Raimondas / Paulauskas, Nerijus / Šapurov, Martynas | BASE | 2013

    Freier Zugriff

    Reflex assisted walking for a hexapod robot

    Marais, S.T. / Nel, A.L. / Robinson, P.E. | IEEE | 2016


    Navigation Control System of Walking Hexapod Robot

    Ollervides, Javier / Orrante-Sakanassi, Jorge / Santibanez, Victor et al. | IEEE | 2012


    Four-foot gait walking method of hexapod robot

    WANG BENLIN / MA ZHAO / ZHAO XIAOMIN et al. | Europäisches Patentamt | 2023

    Freier Zugriff

    Terrain adaptation gait algorithm in a hexapod walking robot

    Isvara, Yudi / Rachmatullah, Syawaludin / Mutijarsa, Kusprasapta et al. | IEEE | 2014