A bionic gait programming algorithm for hexapod robot

Authors:
Xiaohu Lv;Yongxin Liu
Affiliations:
Inner Mongolia University, Hohhot, P.R. China;Inner Mongolia University, Hohhot, P.R. China
Venue:
Proceedings of the 2nd International Conference on Interaction Sciences: Information Technology, Culture and Human
Year:
2009

Citing 4
Cited 0

Biologically inspired approaches to robotics: what can we learn from insects?

Communications of the ACM
Machines That Walk: The Adaptive Suspension Vehicle

Machines That Walk: The Adaptive Suspension Vehicle
Style-based inverse kinematics

ACM SIGGRAPH 2004 Papers
Fault-Tolerant Gait Planning for a Hexapod Robot Walking over Rough Terrain

Journal of Intelligent and Robotic Systems

Quantified Score

Hi-index	0.00

Visualization

Abstract

The gait movement mechanism of hexapod robot with 18-DOF (degree of freedom) is analyzed in this paper. Mainly focus on the robot walking process, it is analyzed that the kinematics characteristics, static stability, walking in straight line using tripod gait, turning gait around fixed-point and the basis for tracking select of foot-point. According to these investigations above, the joint angles control arithmetic is designed, and the algorithm has been transplanted into a single chip computer control system. This control algorithm for hexapod robot has been proved correctness and effectiveness by the experiment results.