Torque Constraints for Hexapod Robot Slope Walking

被引：0
|
作者：
Ge, Tianle [1 ]
Wang, Hesheng
Chen, Weidong
Gui, Bowen
机构：
[1] Shanghai Jiao Tong Univ, Dept Automat, Shanghai 200240, Peoples R China
来源：
2014 IEEE 4TH ANNUAL INTERNATIONAL CONFERENCE ON CYBER TECHNOLOGY IN AUTOMATION, CONTROL, AND INTELLIGENT SYSTEMS (CYBER) | 2014年
关键词：
hexapod robot; torque constraint; stability margin constrain; gait planning; unstructured environment; RHEX;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper focuses on the problem of the gait planning of a hexapod robot in order to improve its practicability. Gait planning based on the torque constraints and the stability margin constrains is proposed. The gait planning on the ground plane is introduced with combining with the mechanism specification of the hexapod robot, and the torque constraints and the stability margin constrains on the ground plane is proposed with the kinematic analysis and force analysis. Then the key constraints for gait planning on the slope are proposed to deal with a more realistic problem. The algorithm analysis can prove the variation of the key control variable under the two constrains. Simulation results are presented to support the proposed algorithm.
引用
收藏
页码：49 / 54
页数：6
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