DocumentCode
3220096
Title
Design and Development of a Six-Legged Robot with Simplified Control Architecture
Author
Mannan, S.M. ; Ayaz, Y. ; Saeed-ur-Rehman ; Farrah, Saadia
Author_Institution
GIST, Gwangju
fYear
2007
fDate
11-12 April 2007
Firstpage
1
Lastpage
6
Abstract
A six-legged robot named ´Mechatron-1´ has been developed. This paper contains a description of the design and working of the robot. A thorough study of its leg motion has been done in order to perform a stability analysis based upon the minimum longitudinal stability margin criteria. The main emphasis in the robot´s structural design was to reduce the controller complexity required for proper operation. Mechatron-1 is a wave gait robot designed for general applications in everyday human environment.
Keywords
legged locomotion; stability; Mechatron-1; longitudinal stability margin criteria; robot structural design; six-legged robot; stability analysis; wave gait robot; Educational institutions; Humans; Leg; Legged locomotion; Mechatronics; Motion analysis; Robot control; Stability analysis; Stability criteria; Telecommunication control;
fLanguage
English
Publisher
ieee
Conference_Titel
Electrical Engineering, 2007. ICEE '07. International Conference on
Conference_Location
Lahore
Print_ISBN
1-4244-0893-8
Electronic_ISBN
1-4244-0893-8
Type
conf
DOI
10.1109/ICEE.2007.4287297
Filename
4287297
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