Title :
Hexagonal hexapod robot foot-modeled dynamics simulation analysis
Author :
Zhang Guijuan ; Yu Guixin ; You Bo
Author_Institution :
Heilongjiang Coll. of Constr., Harbin, China
Abstract :
In this paper, to solve the problems of hexapod robot´s foot frequent collisions with hard ground impact and other issues, we establish the foot-modeled and its parameters identification in the geological environment, and compile Fortran language which is based on the foot-modeled with the secondary development program by the ADAMS dynamic link and the overall hexagonal hexapod robot dynamics simulates in co-simulation of MATLAB and ADAMS. Through the analysis of the simulation results, the correctness and universality of the foot-modeled and the geological environment is verified.
Keywords :
FORTRAN; collision avoidance; control engineering computing; digital simulation; mathematics computing; mobile robots; parameter estimation; robot dynamics; ADAMS dynamic link; Fortran language; MATLAB; geological environment; hard ground impact; hexagonal hexapod robot foot-modeled dynamics simulation analysis; hexapod robot foot frequent collisions; parameters identification; secondary development program; Foot; Geology; Legged locomotion; MATLAB; Mathematical model; Dynamics Simulation Analysis; Foot-modeled; Hexapod robot;
Conference_Titel :
Measurement, Information and Control (ICMIC), 2013 International Conference on
Conference_Location :
Harbin
Print_ISBN :
978-1-4799-1390-9
DOI :
10.1109/MIC.2013.6758153
