Dynamics and Planning for Stable Motion of a Hexapod Robot

被引:0
|
作者
Ali, S. [1 ]
Moosavian, A. [1 ]
Dabiri, A. [1 ]
机构
[1] KN Toosi Univ Tech, Adv Robot & Automated Syst ARAS Lab, Dept Mech Eng, Tehran 1999134433, Iran
来源
2010 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS (AIM) | 2010年
关键词
FREE-GAIT GENERATION;
D O I
暂无
中图分类号
TP18 [人工智能理论];
学科分类号
081104 ; 0812 ; 0835 ; 1405 ;
摘要
A dynamics model for a hexapod robot is developed in this paper which avoids extra calculations to yield a compact set of dynamic equations. To this end, foot interaction with the ground is modeled based on a compliant model, and a force distribution method is implemented in finding required friction forces. This leads to minimum slippage possibility and energy consumption. Furthermore, a scheme is proposed to generate an appropriate rhythmic gait and the ZMP criterion is successively used for checking the robot stability during its planned motion. In conclusion, obtained results are presented for robot stable motion based on the designated gait along a straight path.
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页数:6
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