Static Force Analysis of Foot of Electrically Driven Heavy-Duty Six-Legged Robot under Tripod Gait
نویسندگان
چکیده
منابع مشابه
Six-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...
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As a robot could be stable statically standing on three or more legs, a six legged walking robot can be highly flexible in movements and perform different missions without dealing with serious kinematic and dynamic problems. An experimental six legged walking robot with 18 degrees of freedom is studied and built in this paper. The kinematic and gait analysis formulations are demonstrated by an e...
متن کاملkinematic and gait analysis implementation of an experimental radially symmetric six-legged walking robot
as a robot could be stable statically standing on three or more legs, a six legged walking robot can be highly flexible in movements and perform different missions without dealing with serious kinematic and dynamic problems. an experimental six legged walking robot with 18 degrees of freedom is studied and built in this paper. the kinematic and gait analysis formulations are demonstrated by an e...
متن کاملGait and foot trajectory planning for versatile motions of a six-legged robot
This paper deals with the problem of planning and controlling a radially symmetric sixlegged walker on an uneven terrain when a smooth time-varying body motion is required. The main difficulties lie on the planning of gaits and foot trajectories. As for the gaits, this paper discusses the forward wave gait of a variable duty factor and a variable wave direction. With the commanded body motion, ...
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 ...
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ژورنال
عنوان ژورنال: Chinese Journal of Mechanical Engineering
سال: 2018
ISSN: 1000-9345,2192-8258
DOI: 10.1186/s10033-018-0263-0