Six-Legged Robot Gait Analysis
نویسندگان
چکیده
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 movement. Applied measurement system allows also to measure current, and use it for calculation of power generated by motor. It allows to calculate power necessary for each type of the robot movement. Applied mathematical model allows for identification and check of the angular velocity, acceleration and moments generated by each of the robot cells separately. As a result it is possible to determine quality coefficients of different gait patterns of the robot, i.e. maximal speed or maximal load depending on the number of working legs. Obtained results were confronted with theoretical model of differential equations regulating gait of our hexapod.
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