|Table of Contents|

Hexagonal Hexapod Robot Obstacle Self- identify Gait Planning(PDF)

《哈尔滨理工大学学报》[ISSN:1007-2683/CN:23-1404/N]

Issue:
2013年05期
Page:
42-46
Research Field:
计算机与控制工程
Publishing date:

Info

Title:
Hexagonal Hexapod Robot Obstacle Self- identify Gait Planning
Author(s):
YOU Bo1 LIU Yu- fei1 GAO Hai- bo2 LUO Zhi- yong1
1. School of Automation,Harbin University of Science and Technology,Harbin 150080,China;
2. School of Mechanical and Electrical Engineering,Harbin Institute of Technology,Harbin 150001,China
Keywords:
hexapod robot self- identify obstacle gait planning rotation gait planning
PACS:
TP273
DOI:
-
Abstract:
Abstract: The hexapod robot has multiple degrees of freedom in the control flexibility. However,it has gait
planning strategy formulation difficulties. In this paper,we propose an obstacle self- identify planning strategy. The
strategy is based on the forward and inverse kinematics solver,and it builds the D- H coordinate system,and makes
each leg in homogeneous transformation. The rotation and crossing obstacles gait planning are made by the foot end
force feedback to automatically identify the barriers. Through the analysis of ADAMS simulation results,the cor-
rectness and universality of the obstacle self- identify rotation gait planning strategy is verified.

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Memo:
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Last Update: 2013-12-26