Research of Hexapod Robot Motion in Irregular Terrain

Tomas Luneckas; Dainius Udris

doi:10.4028/www.scientific.net/SSP.164.431

Paper Titles

Limb/Ground Impacts and Unexpected Impacts Control Strategy for a Model of a Walking Robot Limb
p.377

Numerical Analysis and Experimental Research of a Compliant Minigripper
p.383

Advanced Tools for Multi-Body Simulation and Design of Control Structures Applied in Robotic System Development
p.387

Orthonormality and Spectral Analysis for Robotics and Astrodynamics
p.392

Universal Navigation Algorithm Planning Platform for Unmanned Systems
p.405

Optimization of Transport Movement Parameters of the Transfer Manipulator for the Quenching Bath According to the Technological Process Requirements
p.411

Discrete Action Dependant Heuristic Dynamic Programming in Control of a Wheeled Mobile Robot
p.419

In-Pipe Modular Robotic Systems for Inspection and Exploration
p.425

Research of Hexapod Robot Motion in Irregular Terrain
p.431

HomeSolid State PhenomenaSolid State Phenomena Vol. 164Research of Hexapod Robot Motion in Irregular...

Research of Hexapod Robot Motion in Irregular Terrain

Abstract:

This paper presents two inverse kinematics methods for position calculation of one leg hexapod robot. Further it is explained how inverse kinematics method could be applied to calculate robot body position. A trajectory repetition precision experiment was conducted for evaluation of dependence between trajectory repetition and a number of points used to describe it.

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Periodical:

Solid State Phenomena (Volume 164)

Pages:

431-434

DOI:

https://doi.org/10.4028/www.scientific.net/SSP.164.431

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Online since:

June 2010

Authors:

Tomas Luneckas, Dainius Udris

Keywords:

Hexapod, Inverse Kinematic, Locomotion

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References

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