منابع مشابه
Mechanics of six-legged runners.
Six-legged pedestrians, cockroaches, use a running gait during locomotion. The gait was defined by measuring ground reaction forces and mechanical energy fluctuations of the center of mass in Blaberus discoidalis (Serville) as they travelled over a miniature force platform. These six-legged animals produce horizontal and vertical ground-reaction patterns of force similar to those found in two-,...
متن کاملSix-Legged Robot Gait Analysis
This paper includes results of investigations of real six-legged robot. By the name of hexapod we call a robot that walks on six legs. Due to specific construction of legs, each leg has 3 degrees of freedom, prototype constructed by us allows to model gait of reptiles and insects. Presented system of rotation angle of each of the cells (servos) allows to analyze every single type of the movemen...
متن کاملAnalysis of Six-legged Walking Robots
In the present paper, an attempt has been made to carry out kinematic and dynamic analysis of a six-legged robot. A three-revolute (3R) kinematic chain has been chosen for each leg mechanism in order to mimic the leg structure of an insect. Denavit–Hartenberg (D-H) conventions are used to perform kinematic analysis of the six-legged robot. The direct and inverse kinematic analysis for each leg ...
متن کاملGait Analysis for Six-Legged Robots
We present a general method for the analysis of the gaits used by a six-legged robot independently of the mechanism used to generate the gait. The gait state of the robot is de ned as a function of the last executed steps and several classes of gait states as well as the transitions between them are identi ed. As an example, we apply our method to the well-know wave gaits (the most e cient and ...
متن کاملSupporting locomotive functions of a six-legged walking robot
This paper presents a method for building a foothold selection module as well as methods for the stability check for a multi-legged walking robot. The foothold selection decision maker is shaped automatically, without expert knowledge. The robot learns how to select appropriate footholds by walking on rough terrain or by testing ground primitives. The gathered knowledge is then used to find a r...
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ژورنال
عنوان ژورنال: The Anatomical Record
سال: 1917
ISSN: 0003-276X,1097-0185
DOI: 10.1002/ar.1090120305