Six-legged Walking Robot’s Gait Planning and Kinematics Analysis under the Environment of Concave Ground
Yangyang Fan, Yunwei Zhang, Yong Yu, Ling Chen, Xiangyi Zeng, Shuang Gou
Available Online December 2015.
- https://doi.org/10.2991/icmmcce-15.2015.548How to use a DOI?
- Six-legged robot ,Translational homogeneous transformation,Rotation homogeneous transformation,Kinematics.
- Legged robot has advantages with high degree of freedom, flexibility and strong adaptability to the ground. So this paper presents a posture in concave ground environment of a leg organization of a six-legged robot and proposes a gait planning of six-legged robot, which ensure it to move smoothly and efficiently. Using homogeneous and rotational homogeneous transformation to analyze the kinematics model of standing leg and swinging leg, and then calculate the kinematics equation. It laysthe foundation for the further study of the motion control of robot.
- Open Access
- This is an open access article distributed under the CC BY-NC license.
Cite this article
TY - CONF AU - Yangyang Fan AU - Yunwei Zhang AU - Yong Yu AU - Ling Chen AU - Xiangyi Zeng AU - Shuang Gou PY - 2015/12 DA - 2015/12 TI - Six-legged Walking Robot’s Gait Planning and Kinematics Analysis under the Environment of Concave Ground BT - Proceedings of the 4th International Conference on Mechatronics, Materials, Chemistry and Computer Engineering 2015 PB - Atlantis Press SN - 2352-538X UR - https://doi.org/10.2991/icmmcce-15.2015.548 DO - https://doi.org/10.2991/icmmcce-15.2015.548 ID - Fan2015/12 ER -