NDLI: Torque constraints for hexapod robot slope walking

Content Provider	IEEE Xplore Digital Library
Author	Tianle Ge Hesheng Wang Weidong Chen Bowen Gui
Copyright Year	2014
Description	Author affiliation: Dept. of Autom., Shanghai Jiao Tong Univ., Shanghai, China (Tianle Ge; Hesheng Wang; Weidong Chen; Bowen Gui)
Abstract	This paper focuses on the problem of the gait planning of a hexapod robot in order to improve its practicability. Gait planning based on the torque constraints and the stability margin constrains is proposed. The gait planning on the ground plane is introduced with combining with the mechanism specification of the hexapod robot, and the torque constraints and the stability margin constrains on the ground plane is proposed with the kinematic analysis and force analysis. Then the key constraints for gait planning on the slope are proposed to deal with a more realistic problem. The algorithm analysis can prove the variation of the key control variable under the two constrains. Simulation results are presented to support the proposed algorithm.
Starting Page	49
Ending Page	54
File Size	510000
Page Count	6
File Format	PDF
e-ISBN	9781479936694
DOI	10.1109/CYBER.2014.6917434
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2014-06-04
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Legged locomotion Torque Unstructured environment Robot kinematics Stability margin constrain Force Hexapod robot Stability analysis Angular velocity Gait planning Torque constraint
Content Type	Text
Resource Type	Article

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