Title :
Design and Development of a Six-Legged Robot with Simplified Control Architecture
Author :
Mannan, S.M. ; Ayaz, Y. ; Saeed-ur-Rehman ; Farrah, Saadia
Author_Institution :
GIST, Gwangju
Abstract :
A six-legged robot named ´Mechatron-1´ has been developed. This paper contains a description of the design and working of the robot. A thorough study of its leg motion has been done in order to perform a stability analysis based upon the minimum longitudinal stability margin criteria. The main emphasis in the robot´s structural design was to reduce the controller complexity required for proper operation. Mechatron-1 is a wave gait robot designed for general applications in everyday human environment.
Keywords :
legged locomotion; stability; Mechatron-1; longitudinal stability margin criteria; robot structural design; six-legged robot; stability analysis; wave gait robot; Educational institutions; Humans; Leg; Legged locomotion; Mechatronics; Motion analysis; Robot control; Stability analysis; Stability criteria; Telecommunication control;
Conference_Titel :
Electrical Engineering, 2007. ICEE '07. International Conference on
Conference_Location :
Lahore
Print_ISBN :
1-4244-0893-8
Electronic_ISBN :
1-4244-0893-8
DOI :
10.1109/ICEE.2007.4287297
