Research of Hexapod Robot Motion in Irregular Terrain
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.
Andrejus H. Marcinkevičius and Algirdas V.Valiulis
T. Luneckas and D. Udris, "Research of Hexapod Robot Motion in Irregular Terrain", Solid State Phenomena, Vol. 164, pp. 431-434, 2010