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
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