Title :
The implementation of the gaits and body structure for hexapod robot
Author :
Lee, Bo-Hee ; Lee, In-Ku
Author_Institution :
Dept. of Electr. Eng., Semyung Univ., Checheon, South Korea
Abstract :
This paper deals with the implementation of a hexapod robot, called SERO (Semyung Robot). The body and the controller structure of the robot are presented and kinematics results are also discussed. The various gaits are suggested including the plain walking and the rollover operation for its being turned over, and are verified through a simulator. Also, the controller structure including operating system, multi-processors and sensors are presented. The robot controller is connected with a host PC by an Internet web browser and its algorithm can be downloaded or uploaded. In this paper, we tried to deal with the various design factors, gait simulation and implementation for SERO
Keywords :
gait analysis; legged locomotion; robot kinematics; Internet web browser; SERO hexapod robot; Semyung Robot; body structure; controller structure; gait structure; host PC; kinematics; multi-processors; operating system; plain walking; rollover operation; sensors; Control systems; Humanoid robots; Leg; Legged locomotion; Mobile robots; Robot control; Robot sensing systems; Servomotors; Shoulder; Wheels;
Conference_Titel :
Industrial Electronics, 2001. Proceedings. ISIE 2001. IEEE International Symposium on
Conference_Location :
Pusan
Print_ISBN :
0-7803-7090-2
DOI :
10.1109/ISIE.2001.932013
