Analysis of hexapod robot locomotion
Hexapod robot locomotion is analyzed. Trajectory forming method for one leg is introduced. Servo angles are expressed using geometric inverse kinematics method. Forming of tripod gait is described and a diagram representing it is presented. Servo control parameters are defined to ensure fluent and...
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| Format: | Article |
| Language: | English |
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Vilnius Gediminas Technical University
2010-02-01
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| Series: | Mokslas: Lietuvos Ateitis |
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| Online Access: | http://journals.vgtu.lt/index.php/MLA/article/view/10061 |