Title :
Stability analysis for a hexapod robot walking on slopes
Author :
Bowen Gui;Hesheng Wang;Weidong Chen
Author_Institution :
Department of Automation, Shanghai Jiao Tong University, Key Laboratory of System Control and Information Processing, Ministry of Education of China, and Shanghai Key Lab of Navigation and Location Services, Shanghai 200240, China
Abstract :
This paper describes a hexapod robot which uses CPG method to generate different gaits. Simulation results demonstrate the stability of the CPG model. In order to inspect the gradeability of the robot when climbing in uneven slopes, a criterion called force-angle stability is used to measure the performance of the robot which runs in complex environment with different gaits. And experiment shows the difference of various gaits. Thus a proper gait can be summarized and applied to complex environment or uneven slopes.
Keywords :
"Legged locomotion","Robot sensing systems","Robot kinematics","Stability analysis","Mathematical model"
Conference_Titel :
Robotics and Biomimetics (ROBIO), 2015 IEEE International Conference on
DOI :
10.1109/ROBIO.2015.7419048
