Scalable Six-Legged Ambulating Robot for Inaccessible Environments
نویسندگان
چکیده
Robotics can play a key role when dealing with environments that are inaccessible or hazardous for humans including ship hulls, bridge installations, oil rigs, and first reponse scenarios. Due to irregular terrain, wheeled vehicles are ineffective at traversing the necessary terrain. Legged systems are a salient solution. However, legged systems require special considerations regarding workspace and stability.This paper presents the design considerations and development of a scalable six-legged ambulating robotWith enhanced workspace capability to enable larger stable workspaces under different configrations, space constraints, and terrain.
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