Title :
Research on a Six-Legged Robot with Omnidirectional Steering Mechanism
Author :
Cui, Ying ; Gao, Feng
Author_Institution :
Beihang Univ. of Autom., Beijing
Abstract :
A new six legged robot for rugged terrain of deep-space exploration is developed. This robot consists of a special steering mechanism which includes two parallel mechanisms. It can reduce the difficulty of control, turn a random angle and realize the pivot steering without the motion of foothold. The gaits of straight going and omnibearing steering are planned. Finally through the kinematics, dynamics simulation and walking experiments, the robot´s performances such as mobility, stability and trafficability, have been verified with great satisfaction.
Keywords :
legged locomotion; robot dynamics; robot kinematics; steering systems; deep-space exploration; dynamics simulation; kinematics simulation; omnibearing steering; omnidirectional steering mechanism; parallel mechanisms; pivot steering; rugged terrain; six-legged robot; Automotive engineering; Joining processes; Leg; Legged locomotion; Motion control; Orbital robotics; Robot kinematics; Robotics and automation; Stability; Traffic control; Gait Planning; Kinematic Simulation; Six- Legged Robot; Tripod gait;
Conference_Titel :
Mechatronics and Automation, 2007. ICMA 2007. International Conference on
Conference_Location :
Harbin
Print_ISBN :
978-1-4244-0828-3
Electronic_ISBN :
978-1-4244-0828-3
DOI :
10.1109/ICMA.2007.4303847
