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Biologically-inspired hexapod robot design and simulation
| Content Provider | NASA Technical Reports Server (NTRS) |
|---|---|
| Author | Quinn, Roger D. Espenschied, Kenneth S. |
| Copyright Year | 1994 |
| Description | The design and construction of a biologically-inspired hexapod robot is presented. A previously developed simulation is modified to include models of the DC drive motors, the motor driver circuits and their transmissions. The application of this simulation to the design and development of the robot is discussed. The mechanisms thought to be responsible for the leg coordination of the walking stick insect were previously applied to control the straight-line locomotion of a robot. We generalized these rules for a robot walking on a plane. This biologically-inspired control strategy is used to control the robot in simulation. Numerical results show that the general body motion and performance of the simulated robot is similar to that of the robot based on our preliminary experimental results. |
| File Size | 672317 |
| Page Count | 8 |
| File Format | |
| Alternate Webpage(s) | http://archive.org/details/NASA_NTRS_Archive_19940026025 |
| Archival Resource Key | ark:/13960/t0ns5pb84 |
| Language | English |
| Publisher Date | 1994-03-01 |
| Access Restriction | Open |
| Subject Keyword | Cybernetics Controllers Locomotion Insects Robot Control Mathematical Models Computerized Simulation Robot Dynamics Walking Machines Robots Ntrs Nasa Technical Reports Server (ntrs) Nasa Technical Reports Server Aerodynamics Aircraft Aerospace Engineering Aerospace Aeronautic Space Science |
| Content Type | Text |
| Resource Type | Article |
