Walking robot modelling aspects
نویسندگان
چکیده
The paper describes a walking robot leg modelling process. A six-legged walking robot — the so-called hexapod is concerned. Each leg consists of three links driven by Hitec HS475HB servo motors. The proposed model is used for testing leg kinematics and dynamics of the robot gait. One can examine a number of walking algorithms. The model includes: the identified description of the servo motors, a full state observer (position and velocity), forward kinematics of the position and the velocity, inverse kinematics of the position and the leg movement visualisation. The model structure is explained and depicted. The simulation results are shown in a graphical form. The examples of model applications are applied and described. The advantages and disadvantages of the model are listed. Eventual experiments and applications are announced.
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