A hexapod robot for off-road applications

The present paper aims to approach aspects regarding the exploration of rough terrain areas using robotic systems. For a complete image on the approached subject (legged robots) several aspects are considered such as: determining stepping pattern for these types of robots, advantages resulting from...

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Bibliographic Details
Published inIOP conference series. Materials Science and Engineering Vol. 444; no. 4; pp. 42015 - 42025
Main Authors Cartal, L A, Apostolescu, T C, Petre, A S
Format Journal Article
LanguageEnglish
Published Bristol IOP Publishing 29.11.2018
Subjects
Platforms
Robots
Rough terrain
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Summary:The present paper aims to approach aspects regarding the exploration of rough terrain areas using robotic systems. For a complete image on the approached subject (legged robots) several aspects are considered such as: determining stepping pattern for these types of robots, advantages resulting from designing such systems and the advantages resulting from the system's large area of applicability. A hexapod robot with compliant legs has been designed, simulated, optimized and developed. The mechanical structure is different from a classical one as the two platforms are articulated one to the other. Compared to a classical structure where a turn is accomplished using different velocities for legs situated on opposite sides. in this case the turning is done by the relative rotation of the two platforms.
ISSN:1757-8981
1757-899X
1757-899X
DOI:10.1088/1757-899X/444/4/042015