DocumentCode
3356007
Title
The design and kinematics analysis of a new six leg vehicle
Author
Long, Jin ; Wenfeng, Li ; Qiaowen, Xiong ; Bin, Li
Author_Institution
Sch. of Logistic Eng., Wuhan Univ. of Technol., Wuhan, China
fYear
2009
fDate
9-12 Aug. 2009
Firstpage
2683
Lastpage
2688
Abstract
In this paper the analysis and design are presented for a new leg-wheel walking vehicle. A preliminary prototype of a low-cost robot, which is capable of a straight walking with only one actuator, has been designed and built at Wuhan University of Technology. It is concluded that the robot has good stability by leg mechanism kinematics analysis. Simulation and experiment have been carried out to verify the operation of the prototype.
Keywords
actuators; legged locomotion; robot kinematics; stability; actuator; leg vehicle design; leg vehicle kinematics analysis; leg-wheel walking vehicle; low-cost robot; stability; straight walking capability; Actuators; Couplings; Kinematics; Leg; Legged locomotion; Mobile robots; Roads; Stability; Vehicles; Wheels; kinemics; mobile robot; natural gait;
fLanguage
English
Publisher
ieee
Conference_Titel
Mechatronics and Automation, 2009. ICMA 2009. International Conference on
Conference_Location
Changchun
Print_ISBN
978-1-4244-2692-8
Electronic_ISBN
978-1-4244-2693-5
Type
conf
DOI
10.1109/ICMA.2009.5244950
Filename
5244950
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