Foot design for a hexapod walking robot

• Autorzy: Walas K.

Warianty tytułu

PL

Projekt stopy sześcionożnego robota kroczącego

• Języki publikacji: EN

Abstrakty

EN

This article describes the process of development of the robotic foot for the six-legged walking robot Messor. In order to allow the robot to negotiate uneven surfaces and to walk on a compliant ground, the foot includes the sensing device which provides information on contact forces between the foot and the ground. At first, the foot with single-axis force measurement unit is described. Next, design of the triaxial sensing device is shown. Knowledge gathered during development of the single-axis device was transferred to build a new foot with extended capabilities. In the article description of the manufactured real devices is given.

PL

Niniejszy artykuł opisuje proces rozwoju stopy dla sześcionożnego robota kroczącego Messor. Stopa ma wbudowane urządzenie do pomiaru sił kontaktu między stopą a podłożem. Dane te są wymagane do kroczenia po nierównym i podatnym gruncie. W artykule pokazane zostało jednoosiowe urządzenie pomiarowe. Następnie opisano czujnik trójosiowy bazujący na projekcie czujnika jednoosiowego. Artykuł prezentuje proces projektowania i opis rzeczywistego urządzenia.

Słowa kluczowe

EN

walking robot; hexapod; foot; design

PL

robot kroczący; robot sześcionożny; stopa; projektowanie

• Wydawca: Sieć Badawcza Łukasiewicz - Przemysłowy Instytut Automatyki i Pomiarów PIAP
• Czasopismo: Pomiary Automatyka Robotyka
• Rocznik: 2013
• Tom: R. 17, nr 2
• Strony: 283--287
• Opis fizyczny: CD, Bibliogr. 23 poz., rys., wykr.

Twórcy

autor

Walas K.

• Institute of Control and Information Engineering, Poznań University of Technology, Poland,

Bibliografia

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