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A bionic gait programming algorithm for hexapod robot

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ICIS '09: Proceedings of the 2nd International Conference on Interaction Sciences: Information Technology, Culture and Human

Pages 1172 - 1175

https://doi.org/10.1145/1655925.1656138

Published: 24 November 2009 Publication History

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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.

References

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Delcomyn, F. and Nelson, M. E. 2000 Architecture for a biomimetic hexapod robot. Elsevier: Robotics and Autonomous Systems. 30, 5--15

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Cited By

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Fujiya TMikami SNakamura THama K(2014)Locomotion method of a rescue robot with multi-legs and Omni-directional wheels2014 13th International Conference on Control Automation Robotics & Vision (ICARCV)10.1109/ICARCV.2014.7064559(1627-1630)Online publication date: Dec-2014
https://doi.org/10.1109/ICARCV.2014.7064559

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A bionic gait programming algorithm for hexapod robot

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Published In

ICIS '09: Proceedings of the 2nd International Conference on Interaction Sciences: Information Technology, Culture and Human

November 2009

1479 pages

ISBN:9781605587103

DOI:10.1145/1655925

Conference Chairs:
Sungwon Sohn
ETRI, Korea
,
Kyhyun Um
Dongguk University, Korea
,
Franz I. S. Ko
Dongguk University, Korea/IBC, UK
,
Kae Dal Kwack
Hanyang University, Korea
,
Jong Hyung Lee
Gumi Electronics & Information Technology Research Institute, Korea
,
Gang Kou
University of Electronic Science and Technology of China, China
,
Kiyoshi Nakamura
Waseda University, Japan
,
ACM Fong
Nanyang Technological University, Singapore
,
Patrick Ma
The Hong Kong Polytechnic University, Hongkong
,
Ling Chen
Zhejiang University, China
,
Soonwook Hwang
KISTI, Korea
,
Kyungeun Cho
Dongguk University, Korea
,
Shigeo Kawata
Utsunomiya University, Japan

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Association for Computing Machinery

New York, NY, United States

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Published: 24 November 2009

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ICIS '09: The 2nd International Conference on Interaction Sciences: Information Technology, Culture and Human

November 24 - 26, 2009

Seoul, Korea

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Fujiya TMikami SNakamura THama K(2014)Locomotion method of a rescue robot with multi-legs and Omni-directional wheels2014 13th International Conference on Control Automation Robotics & Vision (ICARCV)10.1109/ICARCV.2014.7064559(1627-1630)Online publication date: Dec-2014
https://doi.org/10.1109/ICARCV.2014.7064559

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