Kinematic Analysis and Simulation of a Cockroach Robot

摘要：

This paper does researches into the configuration of our cockroach robot, its kinematics, and kinematic control. First, we design the cockroach robot, which has six legs with 18 DOFs in total. Each leg has 4 joints, coxa, femur, tibia, and tarsus. Based on cockroach robot kinematic analysis, screw theory, and POE (Production-of-Exponential) formula, this paper is focused on the inverse kinematics which uses Paden-Kahan sub-problems to directly obtain the displacement of joint angles. The forward kinematics derives the relationship between joint angles according to the natural restricts. Then, by using POE formula, it deduces the body pose and realizes online trajectory control and planning. What is more, this paper also demonstrates the inverse and forward kinematics, which lay a solid foundation for further kinematic analysis and trajectory planning.

关键词： Cockroach robot kinematic analysis simulation

作者: Yong GAO Weihai CHEN Zhen LU Hao DANG

作者单位: Beijing University of Aeronautics and Astronautics, China

会议类型: 国际会议

会议名称: 2nd IEEE Conference on Industrial Electronics and Applications(ICIEA 2007)(第二届IEEE工业电子与应用国际会议)

会议地点: 哈尔滨

会议语种:英文

在线出版日期: 2007-05-23（万方平台首次上网日期，不代表论文的发表时间）