Detail publikace

Design, Construction and Control of Hexapod Walking Robot

Originální název

Design, Construction and Control of Hexapod Walking Robot

Anglický název

Design, Construction and Control of Hexapod Walking Robot

Jazyk

en

Originální abstrakt

This paper deals with design, construction and control of a hexapod (i.e. six-legged ) walking robot. Basic characteristics of legged robots, a few existing robots and their pros and cons are described in the introduction of this paper. Next, basic gaits, which are used by legged robots for their locomotion are mentioned here. Main part of the paper is focused on the result of our project - on the six-legged robot, which can walk using tripod, wave and ripple gait and which is equipped with sonars, force-sensitive resistors and encoders. This our robot is controlled and monitored from an user interface program, which can display data from the sensors and the positions of robot legs. The robot can be used to test and verify algorithms, gaits and features of hexapod walking robots.

Anglický abstrakt

This paper deals with design, construction and control of a hexapod (i.e. six-legged ) walking robot. Basic characteristics of legged robots, a few existing robots and their pros and cons are described in the introduction of this paper. Next, basic gaits, which are used by legged robots for their locomotion are mentioned here. Main part of the paper is focused on the result of our project - on the six-legged robot, which can walk using tripod, wave and ripple gait and which is equipped with sonars, force-sensitive resistors and encoders. This our robot is controlled and monitored from an user interface program, which can display data from the sensors and the positions of robot legs. The robot can be used to test and verify algorithms, gaits and features of hexapod walking robots.

BibTex


@inproceedings{BUT119893,
  author="Marek {Žák} and Jaroslav {Rozman}",
  title="Design, Construction and Control of Hexapod Walking Robot",
  annote="This paper deals with design, construction and control of a hexapod (i.e.
six-legged ) walking robot. Basic characteristics of legged robots, a few
existing robots and their pros and cons are described in the introduction of this
paper. Next, basic gaits, which are used by legged robots for their locomotion
are mentioned here. Main part of the paper is focused on the result of our
project - on the six-legged robot, which can walk using tripod, wave and ripple
gait and which is equipped with sonars, force-sensitive resistors and encoders.
This our robot is controlled and monitored from an user interface program, which
can display data from the sensors and the positions of robot legs. The robot can
be used to test and verify algorithms, gaits and features of hexapod walking
robots.",
  address="Faculty of Electrical Engineering and Informatics, University of Technology Košice",
  booktitle="2015 IEEE 13th International Scientific Conference on Informatics, INFORMATICS 2015 - Proceedings",
  chapter="119893",
  doi="10.1109/Informatics.2015.7377851",
  edition="NEUVEDEN",
  howpublished="print",
  institution="Faculty of Electrical Engineering and Informatics, University of Technology Košice",
  year="2016",
  month="january",
  pages="302--307",
  publisher="Faculty of Electrical Engineering and Informatics, University of Technology Košice",
  type="conference paper"
}