Title :
Design of autonomous hexapod
Author :
Zielinska, Teresa ; Goh, Terrence ; Chong, Choong Kwong
Author_Institution :
Warsaw Univ. of Technol., Poland
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;
Conference_Titel :
Robot Motion and Control, 1999. RoMoCo '99. Proceedings of the First Workshop on
Conference_Location :
Kiekrz
Print_ISBN :
0-7803-5655-1
DOI :
10.1109/ROMOCO.1999.791054
