The implementation of the gaits and body structure for hexapod robot

Author

Lee, Bo-Hee ; Lee, In-Ku

Author_Institution

Dept. of Electr. Eng., Semyung Univ., Checheon, South Korea

Volume

3

fYear

2001

fDate

2001

Firstpage

1959

Abstract

This paper deals with the implementation of a hexapod robot, called SERO (Semyung Robot). The body and the controller structure of the robot are presented and kinematics results are also discussed. The various gaits are suggested including the plain walking and the rollover operation for its being turned over, and are verified through a simulator. Also, the controller structure including operating system, multi-processors and sensors are presented. The robot controller is connected with a host PC by an Internet web browser and its algorithm can be downloaded or uploaded. In this paper, we tried to deal with the various design factors, gait simulation and implementation for SERO

Keywords

gait analysis; legged locomotion; robot kinematics; Internet web browser; SERO hexapod robot; Semyung Robot; body structure; controller structure; gait structure; host PC; kinematics; multi-processors; operating system; plain walking; rollover operation; sensors; Control systems; Humanoid robots; Leg; Legged locomotion; Mobile robots; Robot control; Robot sensing systems; Servomotors; Shoulder; Wheels;

fLanguage

English

Publisher

ieee

Conference_Titel

Industrial Electronics, 2001. Proceedings. ISIE 2001. IEEE International Symposium on

Conference_Location

Pusan

Print_ISBN

0-7803-7090-2

Type

conf

DOI

10.1109/ISIE.2001.932013

Filename

932013