Analysis of hexapod robot locomotion

Analysis of hexapod robot locomotion

Hexapod robot locomotion is analyzed. Trajectory forming method for one leg is introduced. Servo angles are expressed using geometric inverse kinematics method. Forming of tripod gait is described and a diagram representing it is presented. Servo control parameters are defined to ensure fluent and v...

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Bibliographic Details
Main Author:	Tomas Luneckas
Format:	Article
Language:	English
Published:	Vilnius Gediminas Technical University 2010-02-01
Series:	Mokslas: Lietuvos Ateitis
Subjects:	hexapod robot tripod gait leg trajectory inverse kinematics servomotor
Online Access:	http://journals.vgtu.lt/index.php/MLA/article/view/10061

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