Judgment and Adjustment of Tipping Instability for Hexapod Robots

被引：0
|
作者：
Liu, Zhijiang [1 ]
Chen, Siyu [2 ]
Luo, Xin [2 ]
机构：
[1] Huazhong Univ Sci & Technol, Wuxi 214073, Peoples R China
[2] Huazhong Univ Sci & Technol, Sch Mech Sci & Technol, Wuhan 430074, Peoples R China
来源：
2013 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS (ROBIO) | 2013年
关键词：
WALKING-ROBOT; STABILITY; GAIT;
D O I：
暂无
中图分类号：
Q [生物科学];
学科分类号：
07 ; 0710 ; 09 ;
摘要：
Real-time response to tipping is essential for a hexapod robot to avoid damaging itself and load when it walks on rough terrains. In this paper, a criterion is proposed combining ZMP and FASM for the judgment of the stability of walking hexapod robots, and an analytical method is applied to determine the reachable workspace of its adjusted-leg and to choose footholds to restore stability based on the principle of maximizing force arm. Taking the case of a hexapod robot's sideline tipping on a slope terrain as an example, the simulation results verify the effectiveness of the proposed method.
引用
收藏
页码：1941 / 1946
页数：6
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