Title :
Comparison between different model of hexapod robot in fault-tolerant gait
Author :
Chu, Stanley Kwok-Kei ; Pang, Grantham Kwok-Hung
Author_Institution :
Dept. of Electr. & Electron. Eng., Hong Kong Univ., China
fDate :
11/1/2002 12:00:00 AM
Abstract :
This paper presents a gait analysis of the equilateral hexagonal model of hexapod robot. Mathematical analysis has been made on mobility, fault-tolerance, and stability. A comparison with the rectangular model of hexapod robot is also given, and it has shown that the hexagonal model shows better turning ability, a higher margin of stability during the fault-tolerant gait, and greater stride length in certain conditions.
Keywords :
fault tolerance; gait analysis; legged locomotion; motion control; fault-tolerance; fault-tolerant gait; gait analysis; hexapod robot; mobility; rectangular model; robotics; stability; stability margin; Fault tolerance; Joints; Leg; Legged locomotion; Mathematical analysis; Mobile robots; Payloads; Stability analysis; Turning; Wheels;
Journal_Title :
Systems, Man and Cybernetics, Part A: Systems and Humans, IEEE Transactions on
DOI :
10.1109/TSMCA.2002.807066
