Analysis of Contact Forces Between the Ground and the Hexapod Robot Legs During Tripod Gait

• Autorzy: Grzelczyk D. , Awrejcewicz J.
• Języki publikacji: EN

Abstrakty

EN

The aim of the study is kinematic and dynamic simulation of a hexapod robot walking with a classical tripod gait on a flat surface. To drive robot legs, a novel central pattern generator is applied. Time series of the robot’s kinematic and dynamic parameters are reported to assess the applied control method. Ground reaction forces and overloads acting on the hexapod legs are estimated on the basis of the inverse dynamics concept. For better analysis and illustration of the studied hexapod, the simulation model of the robot, suitable for virtual experiment son the locomotion process, is developed in Mathematica software. The obtained results indicate some advantages of the applied central pattern generator.

Słowa kluczowe

EN

hexapod; multi-legged robot; central pattern generator

• Wydawca: Oficyna Wydawnicza Politechniki Warszawskiej
• Czasopismo: Machine Dynamics Research
• Rocznik: 2018
• Tom: Vol. 42, No. 2
• Strony: 17--26
• Opis fizyczny: Bibliogr. 14 poz., rys., tab., wykr.

Twórcy

autor

Grzelczyk D.

• Lodz University of Technology Department of Automation, Biomechanics and Mechatronics

autor

Awrejcewicz J.

• Lodz University of Technology Department of Automation, Biomechanics and Mechatronics

Bibliografia

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