NDLI: Tripod gaits planning and kinematics analysis of a hexapod robot

Content Provider	IEEE Xplore Digital Library
Author	Xingji Duan Weihai Chen Shouqian Yu Jingmeng Liu
Copyright Year	2009
Description	Author affiliation: School of Automation Science and Electrical Engineering, Beijing University of Aeronautics and Astronautics, Beijing, IN 100191 China (Xingji Duan; Weihai Chen; Shouqian Yu; Jingmeng Liu)
Abstract	This paper proposes a scheme for the design, gaits planning and kinematics control of a hexapod robot. The robot is symmetrical structure with six identical legs. Each leg consists of three revolute joints which are actuated by position-controlled servos. The paper focuses on two crucial problems for multi-legged robot control, gaits planning and kinematics solving. Based on tripod gaits, a new turn gait which has static stability is proposed. Considering turn gait, there are two important parameters called the reachable area of each leg and maximum rotation angle of robot body. The two parameters are determined by the initial state and mechanical structure of hexapod robot. Then, an analytical inverse kinematics solution is discussed to realize kinematics control of the robot. The maximum rotation angles are solved and the obstacle avoidance experiment proves that the turn gait is feasible and the hexapod robot can walk rapidly and agilely on even terrain.
Starting Page	1850
Ending Page	1855
File Size	453863
Page Count	6
File Format	PDF
ISBN	9781424447060
DOI	10.1109/ICCA.2009.5410582
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2009-12-09
Publisher Place	New Zealand
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Kinematics Legged locomotion Robotics and automation Leg Robot control Stability Automatic control Motion control Insects Orbital robotics
Content Type	Text
Resource Type	Article

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