Design of a mammal-kike hexapod walking robot
This paper describes the design and control concepts of a mammal-like hexapod walking robot. It has a hexapod configuration and is driven by 12 digital servomotors which are controlled by main processor located on the main body. The novel mechanical design with 12 degrees of freedom is introduced as well as the hardware architecture of the control system. In this study, the alternative tripod gait is generated and realized by inverse kinematics method in the single-leg physical model with the foot trajectories planned. Dynamic calculation and simulation results demonstrate the validity of the design concept. The experiments prove that the robot could achieve the straight-line walking with good performance.
Walking robot Mammal-like hexapod Foot trajectory Gait planning Dynamic simulation
Cheng Chen Bo Jin Sha Hu Jialin Zhang Wei Li
The State Key Laboratory of Fluid Power Transmission and Control, Zhejiang University, Hangzhou, P.R. China
国际会议
杭州
英文
389-392
2009-04-08（万方平台首次上网日期，不代表论文的发表时间）