Open AccessANALYSIS OF HEXAPOD ROBOT LOCOMOTION
Author(s) -
Tomas Luneckas
Publication year - 2010
Publication title -
mokslas - lietuvos ateitis
Language(s) - English
Resource type - Journals
eISSN - 2029-2341
pISSN - 2029-2252
DOI - 10.3846/mla.2010.008
Subject(s) - hexapod , control theory (sociology) , servo , robot , servo control , kinematics , inverse kinematics , computer science , control engineering , trajectory , servomotor , actuator , motion control , simulation , engineering , control (management) , artificial intelligence , physics , classical mechanics , astronomy
Hexapod robot locomotion is analyzed. Trajectory forming method for one leg is introduced. Servo angles are expressed using geometric inverse kinematics method. Forming of tripod gait is described and a diagram representing it is presented. Servo control parameters are defined to ensure fluent and versatile robot control. Several servo control methods are presented. After testing robot movement using different servo control methods, gait generation is corrected and control method that meets servo control parameters is chosen.
Article in Lithuanian