The simulation of leg design for a hexapod climbing robot: A static approach

被引：0
|
作者：
Gadoura, IA [1 ]
机构：
[1] Helsinki Univ Technol, Control Engn Lab, FIN-02150 Espoo, Finland
来源：
ESS'98 - SIMULATION TECHNOLOGY: SCIENCE AND ART | 1998年
关键词：
D O I：
暂无
中图分类号：
TP301 [理论、方法];
学科分类号：
081202 ;
摘要：
The paper presents an analytical method to obtain all surfaces enveloping the workspace of leg design for a hexapod-climbing robot. By manipulating Jacobians, the singularities are computed and then substituted into the kinematic constraints to parameterize climbing envelops representing barriers of foot motion on the net. This method helps to develop the gait algorithm of a robot on a discrete net.
引用
收藏
页码：479 / 481
页数：3
相关论文
共 50 条
  • [1] Design and Simulation of Special Hexapod Robot with Vertical Climbing Ability
    Zhou, Zihan
    Zhu, Xiaoqing
    [J]. PROCEEDINGS OF 2020 IEEE 5TH INFORMATION TECHNOLOGY AND MECHATRONICS ENGINEERING CONFERENCE (ITOEC 2020), 2020, : 746 - 749
  • [2] Design and kinematic simulation for six-DOF leg mechanism of hexapod robot
    Gao, Jianhua
    [J]. 2006 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS, VOLS 1-3, 2006, : 625 - 629
  • [3] ANALYSIS AND SIMULATION OF THE LEG OF AN HEXAPOD ROBOT FOR REMOTE EXPLORATION
    Torres, J.
    Romero, G.
    Gomez-Elvira, J.
    Maroto, J.
    [J]. EUROPEAN SIMULATION AND MODELLING CONFERENCE 2008, 2008, : 28 - +
  • [4] Design and Simulation of Cassino Hexapod Robot
    Carbone, G.
    Yatsun, A.
    Ceccarelli, M.
    Yatsun, S.
    [J]. PROCEEDINGS OF THE 13TH WSEAS INTERNATIONAL CONFERENCE ON SYSTEMS: RECENT ADVANCES IN SYSTEMS, 2009, : 301 - +
  • [5] Biomimetic Design and Optimal Swing of a Hexapod Robot Leg
    Jie Chen
    Yubin Liu
    Jie Zhao
    He Zhang
    Hongzhe Jin
    [J]. Journal of Bionic Engineering, 2014, 11 : 26 - 35
  • [6] Analysis and Structure Design of the Underwater Hexapod Robot Leg
    Zhang Lianzhao
    Wang Pengfei
    Zha Fusheng
    Bi Xiuwen
    Guo Wei
    Chen Chen
    [J]. 2021 4TH INTERNATIONAL CONFERENCE ON MECHATRONICS, ROBOTICS AND AUTOMATION (ICMRA 2021), 2020, : 1 - 5
  • [7] DESIGN OF A NEW WAIST FOR A HEXAPOD ROBOT WITH PARALLEL LEG MECHANISM TO INCREASE ITS STAIR-CLIMBING CAPABILITY
    Liu, Jimu
    Gao, Feng
    Chen, Xianbao
    [J]. PROCEEDINGS OF THE ASME INTERNATIONAL DESIGN ENGINEERING TECHNICAL CONFERENCES AND COMPUTERS AND INFORMATION IN ENGINEERING CONFERENCE, 2017, VOL 5B, 2017,
  • [8] Biomimetic Design and Optimal Swing of a Hexapod Robot Leg
    Chen, Jie
    Liu, Yubin
    Zhao, Jie
    Zhang, He
    Jin, Hongzhe
    [J]. JOURNAL OF BIONIC ENGINEERING, 2014, 11 (01) : 26 - 35
  • [9] The RiSE climbing robot: Body and leg design
    Saunders, A.
    Goldman, D. I.
    Full, R. J.
    Buehler, M.
    [J]. UNMANNED SYSTEMS TECHNOLOGY VIII, PTS 1 AND 2, 2006, 6230
  • [10] Design, dynamic simulation and experimental tests of leg mechanism and driving system for a hexapod walking robot
    Roca, J
    Nogués, M
    Cardona, S
    [J]. CLIMBING AND WALKING ROBOTS, 2005, : 295 - 303
12345