DocumentCode :
3066457
Title :
Modeling and dynamic control for a hexapod robot
Author :
Sahin, Ferat ; Stevenson, Brian
Author_Institution :
Electr. Eng. Dept., Rochester Inst. of Technol., Rochester, NY, USA
fYear :
2015
fDate :
17-20 May 2015
Firstpage :
304
Lastpage :
309
Abstract :
In the every expanding field of robotics, mobile robots come in a two primary variations: wheeled and legged. This paper will focus on the latter, specifically a hexapod with a circular body that has its six legs distributed axisymmetrically around the body. The core goal of the project discussed here is to allow the robot to dynamically change foot placement based on an input vector in addition to controlling the position and orientation of the body. Specific attention is also given to a simulation model that can mimic this control of the robot in a virtual environment. Having a high level of control enhances the robot´s ability to move in a very smooth and purposeful manner.
Keywords :
legged locomotion; robot dynamics; vectors; dynamic control; foot placement; hexapod robot; input vector; legged variations; mobile robots; orientation control; position control; primary variations; virtual environment; wheeled variations; Foot; Legged locomotion; Mathematical model; Modeling; Robot sensing systems; Webots; dynamic control; hexapod; kinematics; modeling;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
System of Systems Engineering Conference (SoSE), 2015 10th
Conference_Location :
San Antonio, TX
Type :
conf
DOI :
10.1109/SYSOSE.2015.7151914
Filename :
7151914
Link To Document :
بازگشت