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
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;
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
DOI :
10.1109/ICMA.2009.5244950
