Hexapod Work Space and Walking Algorithm: Work Space Analysis and Walking Algorithm Development for A Radially Symmetric Hexapod Robot - Softcover

Showalter, Mark

Softcover

ISBN 10: 3639174917 ISBN 13: 9783639174915

Publisher: VDM Verlag, 2009

Synopsis

The Multi-Appendage Robotic System (MARS) built for this research is a hexapod robotic platform capable of walking and performing manipulation tasks. Designing walking gaits for such multi-limb robots requires a thorough understanding of the kinematics of the limbs, including their workspace. The speci¿c abilities of a walking algorithm dictate the usable workspace for the limbs. Generally speaking, the more general the walking algorithm is, the less constricted the workspace becomes. Developed workspaces range from simple 2D geometry to complex 3D volumes. While MARS is a hexapedal robot, the tasks of de¿ning the workspace and walking agorthm for all six limbs can be abstracted to a single limb using the constraint of a tripedal, statically stable gait. Based on understanding the behavior of an individual limb, a walking algorithm was developed to allow MARS to walk on level terrain. The algorithm is adaptive in that it continuously updates based on control inputs.

About this title

About the Author

Mark Showalter worked in the Robotics and Mechanisms Lab at Virginia Tech and earned his Masters Degree in Mechanical Engineering from Virginia Tech in 2008. Mark enjoys working in mechatronics and alternative energy, but is most passionate about engineering missions.

Edition details

• Publisher: VDM Verlag
• Publication date: 2009
• ISBN 10: 3639174917
• ISBN 13: 9783639174915
• Binding: Paperback
• Language: English
• Number of pages: 188