DocumentCode
3129849
Title
Design of autonomous hexapod
Author
Zielinska, Teresa ; Goh, Terrence ; Chong, Choong Kwong
Author_Institution
Warsaw Univ. of Technol., Poland
fYear
1999
fDate
1999
Firstpage
65
Lastpage
69
Abstract
The specification of a six legged walking robot is given. The hardware, software and mechanical parameters of the autonomous hexapod are listed. Nondimensional analysis of energy consumption is presented. Correctness of the proposed design was proved on a test rig which currently consists of two legs
Keywords
control system synthesis; force control; legged locomotion; motion control; position control; robot kinematics; autonomous hexapod; energy consumption; force control; inverse kinematics; motion control; position control; power consumption; six legged walking robot; Batteries; Communication system control; Control systems; Hardware; Leg; Legged locomotion; Motion planning; Motor drives; Robot kinematics; Testing;
fLanguage
English
Publisher
ieee
Conference_Titel
Robot Motion and Control, 1999. RoMoCo '99. Proceedings of the First Workshop on
Conference_Location
Kiekrz
Print_ISBN
0-7803-5655-1
Type
conf
DOI
10.1109/ROMOCO.1999.791054
Filename
791054
Link To Document