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Object carrying of hexapod robots with integrated mechanism of leg and arm
| Content Provider | Semantic Scholar |
|---|---|
| Author | Deng, Hua Xin, Guiyang Zhong, Guoliang Mistry, Michael |
| Copyright Year | 2017 |
| Abstract | Hexapod robots are easy to realize walking in complicated environments and have highly redundant property. It is well worth taking advantage of hexapod robots’ versatility, such as using legs to do manipulation or carry objects. In this paper, several methods are proposed to deal with issues of carrying objects by transforming one or two legs as arms while walking with the other legs for hexapod robots. Firstly, we suggest practical gaits for one-legged carrying and two-legged carrying respectively. Secondly, problems existing in gait planning, for instance how to estimate the mass of object and how to calculate joint motion according to desired center of gravity (COG) trajectory, are solved by dynamic analysis and kinematic method based on COG Jacobian. Finally, the effective of our methods to implement carrying objects is demonstrated by two successful experiments of carrying a bottle of water and a box. |
| File Format | PDF HTM / HTML |
| Alternate Webpage(s) | https://www.research.ed.ac.uk/portal/files/52074594/HexapodNov17.pdf |
| Language | English |
| Access Restriction | Open |
| Subject Keyword | Alveolar rhabdomyosarcoma Bottle, device Carrying Coat of arms Cog (project) Computation Entity Name Part Qualifier - adopted Experiment Jacobian matrix and determinant Physical object Robot (device) Robot end effector Subphylum Hexapoda Workspace |
| Content Type | Text |
| Resource Type | Article |
