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
  • [21] Design and simulation of a cockroach-like hexapod robot
    Nelson, GM
    Quinn, RD
    Bachmann, RJ
    Flannigan, WC
    Ritzmann, RE
    Watson, JT
    [J]. 1997 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION - PROCEEDINGS, VOLS 1-4, 1997, : 1106 - 1111
  • [22] DESIGN OF NEW LEG MECHANISM FOR A WHEELED WALL CLIMBING ROBOT
    Fu, Yi-Li
    Yang, He-Jin
    [J]. ADVANCES IN CLIMBING AND WALKING ROBOTS, PROCEEDINGS, 2007, : 99 - 104
  • [23] Static Equilibrium Condition for a Multi-leg, Stairs Climbing Walking Robot
    Walas, Krzysztof
    [J]. ROBOT MOTION AND CONTROL 2009, 2009, 396 : 197 - 206
  • [24] Static equilibrium condition for a multi-leg, stairs climbing walking robot
    Walas, Krzysztof
    [J]. Lecture Notes in Control and Information Sciences, 2009, 396 : 197 - 206
  • [25] Design, modelling, and simulation of a wall climbing robot
    Habib, MK
    Yuen, INS
    [J]. ICOM 2003: INTERNATIONAL CONFERENCE ON MECHATRONICS, 2003, : 511 - 518
  • [26] Design of Static Gait Algorithm for Hexapod Subsea Walking Robot: Crabster
    Yoo, Seong Yeol
    Jun, Bong Huan
    Shim, Hyungwon
    [J]. TRANSACTIONS OF THE KOREAN SOCIETY OF MECHANICAL ENGINEERS A, 2014, 38 (09) : 989 - 997
  • [27] Dynamic Modeling and Torque Distribution of a Climbing Hexapod Robot
    Liu, Dong
    Chen, Weihai
    Pei, Zhongcai
    Wang, Jianhua
    Wu, Xingming
    [J]. RECENT ADVANCES IN MECHANISM DESIGN FOR ROBOTICS, 2015, 33 : 133 - 144
  • [28] Mobility properties analyses of a wall climbing hexapod robot
    Bin He
    Shoulin Xu
    Yanmin Zhou
    Zhipeng Wang
    [J]. Journal of Mechanical Science and Technology, 2018, 32 : 1333 - 1344
  • [29] Mobility properties analyses of a wall climbing hexapod robot
    He, Bin
    Xu, Shoulin
    Zhou, Yanmin
    Wang, Zhipeng
    [J]. JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY, 2018, 32 (03) : 1333 - 1344
  • [30] Bio-inspired Leg Design for a Heavy-Duty Hexapod Robot
    Haoyuan Yi
    Zhenyu Xu
    Xueting Xin
    Liming Zhou
    Xin Luo
    [J]. Journal of Bionic Engineering, 2022, 19 : 975 - 990
12345