A Hexapod Robot with Non-Collocated Actuators
| Autor: | Feifei Liu, Chiou-Jye Huang, Min-Chan Hwang |
|---|---|
| Rok vydání: | 2018 |
| Předmět: |
0209 industrial biotechnology
Hexapod Computer science Applied Mathematics Tripod (photography) mechanism hexapod 02 engineering and technology Industrial and Manufacturing Engineering non-collocated Human-Computer Interaction 020901 industrial engineering & automation Artificial Intelligence Control and Systems Engineering Control theory 0202 electrical engineering electronic engineering information engineering Robot 020201 artificial intelligence & image processing Actuator Information Systems |
| Zdroj: | Applied System Innovation Volume 1 Issue 3 |
| ISSN: | 2571-5577 |
| DOI: | 10.3390/asi1030020 |
| Popis: | The primary issue in developing hexapod robots is generating legged motion without tumbling. However, when the hexapod is designed with collocated actuators, where each joint is directly mounted with an actuator, the number of actuators is usually high. The adverse effects of using a great number of actuators include the rise in the challenge of algorithms to control legged motion, the decline in loading capacity, and the increase in the cost of construction. In order to alleviate these problems, we propose a hexapod robot design with non-collocated actuators which is achieved through mechanisms. This hexapod robot is reliable and robust which, because of its mechanism-generated (as opposed to computer-generated) tripod gaits, is always is statically stable, even if running out of battery or due to electronic failure. |
| Databáze: | OpenAIRE |
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