Hexapod Work Space and Walking Algorithm

Name: Hexapod Work Space and Walking Algorithm
Brand: VDM Verlag
SKU: 9783639174915
Price: 66.72 EUR
Availability: InStock

Work Space Analysis and Walking Algorithm Development for A Radially Symmetric Hexapod Robot

Autor: Mark Showalter

Jazyk:

Väzba: Brožovaná

Vydavateľ: VDM Verlag

Dostupnosť: U vydavateľa na objednávku

Odosielame za 17-27 dní

66.72 €

The Multi-Appendage Robotic System (MARS) built for this research is a hexapod robotic platform capa...

Informácie o knihe

Autor

Mark Showalter

Jazyk

Angličtina

Väzba

Kniha - Brožovaná

Vydalo

2009

Stránok

190

EAN

9783639174915

ISBN

3639174917

Enbook ID

06825790

Vydavateľ

VDM Verlag

Hmotnosť

286

Rozmery

152 x 229 x 11

Kompletný popis

The Multi-Appendage Robotic System (MARS) built for this research is a hexapod robotic platform capable of walking and performing manipulation tasks. Designing walking gaits for such multi-limb robots requires a thorough understanding of the kinematics of the limbs, including their workspace. The speci c abilities of a walking algorithm dictate the usable workspace for the limbs. Generally speaking, the more general the walking algorithm is, the less constricted the workspace becomes. Developed workspaces range from simple 2D geometry to complex 3D volumes. While MARS is a hexapedal robot, the tasks of de ning the workspace and walking agorthm for all six limbs can be abstracted to a single limb using the constraint of a tripedal, statically stable gait. Based on understanding the behavior of an individual limb, a walking algorithm was developed to allow MARS to walk on level terrain. The algorithm is adaptive in that it continuously updates based on control inputs.

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Hexapod Work Space and Walking Algorithm

Work Space Analysis and Walking Algorithm Development for A Radially Symmetric Hexapod Robot

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Kompletný popis

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