Kinematics of Hex-Piderix - A Six-Legged Robot - Using Screw Theory
In this paper the kinematic analysis of a six-legged robot, hereafter named Hex-piderix , is carried out. A three revolute (3R) chain has been chosen for each limb in order to mimic the leg structure of an insect. The rotation matrix, with unitary vectors, and the Denavit-Hartenberg (D-H) convention...
| Main Authors: | , , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
SAGE Publishing
2013-01-01
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| Series: | International Journal of Advanced Robotic Systems |
| Online Access: | https://doi.org/10.5772/53796 |