Stable Cliff Climbing For Hexapod Robot With Articulated Body
The paper describes kinematic control for hexapod robot with three{segment articulated body. Forward and inverse kinematics for articulated body de- scribed. Static stability studied in case of climbing the so{called cli obstacle. Conditions for static stability during climbing sequence provided.
| Autores: | , |
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| Tipo de recurso: | artículo |
| Estado: | Versión publicada |
| Fecha de publicación: | 2018 |
| País: | Panamá |
| Institución: | Universidad Tecnológica de Panamá |
| Repositorio: | Repositorio Institucional de documento digitales de acceso abierto de la UTP |
| Idioma: | español |
| OAI Identifier: | oai:ridda2.utp.ac.pa:123456789/5792 |
| Acceso en línea: | http://revistas.utp.ac.pa/index.php/memoutp/article/view/1980 http://ridda2.utp.ac.pa/handle/123456789/5792 |
| Access Level: | acceso abierto |
| Palabra clave: | Multi{legged robot; obstacle climbing; articulated body; simulation. |
| Sumario: | The paper describes kinematic control for hexapod robot with three{segment articulated body. Forward and inverse kinematics for articulated body de- scribed. Static stability studied in case of climbing the so{called cli obstacle. Conditions for static stability during climbing sequence provided. |
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