Hexapod Work Space and Walking Algorithm

Name: Hexapod Work Space and Walking Algorithm
Brand: VDM Verlag
SKU: 9783639174915
Price: 70.25 EUR
Availability: InStock

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

Автор: Mark Showalter

Език:

Корици: С меки корици

Издател: VDM Verlag

Наличност: Налично при издателя, по поръчка

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70.25 € 137.39 лв

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

Информация за книгата

Автор

Mark Showalter

Език

Английски език

Корици

Книга - С меки корици

Издадена

2009

страници

190

EAN

9783639174915

ISBN

3639174917

Enbook ID

06825790

Издател

VDM Verlag

Теглоt

286

Размери

152 x 229 x 11

Пълно описание

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

Информация за книгата

Пълно описание

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