Title :
Torque constraints for hexapod robot slope walking
Author :
Tianle Ge ; Hesheng Wang ; Weidong Chen ; Bowen Gui
Author_Institution :
Dept. of Autom., Shanghai Jiao Tong Univ., Shanghai, China
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.
Keywords :
gait analysis; legged locomotion; path planning; robot kinematics; stability; torque; force analysis; gait planning; hexapod robot slope walking; kinematic analysis; stability margin constrains; torque constraints; Angular velocity; Force; Legged locomotion; Robot kinematics; Stability analysis; Torque; gait planning; hexapod robot; stability margin constrain; torque constraint; unstructured environment;
Conference_Titel :
Cyber Technology in Automation, Control, and Intelligent Systems (CYBER), 2014 IEEE 4th Annual International Conference on
Conference_Location :
Hong Kong
Print_ISBN :
978-1-4799-3668-7
DOI :
10.1109/CYBER.2014.6917434