Motion Analysis of the Leg Tip of a Six-Legged Walking Robot
نویسندگان
چکیده
The present paper deals with the motion analysis of the leg tip of a six-legged walking robot, which mimics the kinematic structure and locomotion of the stick insect. The kinematic model of the six-legged walking robot and the appropriate algorithm for the leg coordination were proposed in previous papers to simulate and analyze different types of gait for different speeds of the robot body, but the walking performances of the robot are strictly related to the motion of the tip of each leg mechanism. Thus, this motion is analyzed in this paper in terms of trajectory and velocity of the leg tip and during the acceleration transient and steady-state condition for different speeds of the robot body.
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