Kinematics Analysis and Experiment of a Cockroach-Like Robot

• Published in: Shanghai jiao tong da xue xue bao Vol. 16; no. 1; pp. 71 - 77
• Main Author: 高勇 陈伟海 陆震
• Format: Journal Article
• Language: English
• Published: Heidelberg Shanghai Jiaotong University Press 01.02.2011
• Subjects: Architecture; Computer Science; Electrical Engineering; Engineering; Life Sciences; Materials Science; cockroach-like robot; TP 242; kinematics analysis; locomotion control

This article describes the structure of the cockroach-like robot.Both kinematics and locomotion control are inspired by biological observations in cockroaches.Based on cockroach-like robot kinematics analysis,screw theory,and the production-of-exponential （POE） formula,this paper focuses on the inve...