Stability Analysis and Fixed Radius Turning Planning of Hexapod Robot

In this paper, the maximum allowable rotation angle of the first rotation pair connected between the legs and the body is solved by geometric method on the premise of the hexapod robot walking steadily. Then, aiming at turning with a fixed radius, the gait of turning is planned and the calculation m...

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Bibliographic Details
Published inIntelligent Robotics and Applications pp. 15 - 25
Main Authors Yu, Dajiang, Chen, Yongqin
Format Book Chapter
LanguageEnglish
Published Cham Springer International Publishing
SeriesLecture Notes in Computer Science
Subjects
Fixed radius turning
Maximum angle
Stability
Stable walking
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Summary:In this paper, the maximum allowable rotation angle of the first rotation pair connected between the legs and the body is solved by geometric method on the premise of the hexapod robot walking steadily. Then, aiming at turning with a fixed radius, the gait of turning is planned and the calculation method of turning angle of each joint is given. Finally, considering the influence of turning radius and turning angle on stability, a critical curve which can be referred to selecting turning radius and turning angles is given. It is proved that in the process of left turning, the second group of legs are more restricted in the selection of turning radius and turning angle. Finally, the feasibility of the above method is verified by real verification and error analysis.
ISBN:303027540X
9783030275402
ISSN:0302-9743
1611-3349
DOI:10.1007/978-3-030-27541-9_2