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This paper presents a novel hexapod robot with legs radially free distributing around the body. Compared with radial symmetric or rectangular symmetric robots, the legs of a radially free distributed hexapod robot can rotate around the body of the robot and redistribute their positions thanks to the proposed radially free distribution mechanism. To investigate the performance of the designed robot,...
This paper presents a novel stair recognition method by utilizing three-dimensional (3D) scanning for a hexapod robot to climb stairs. The method is based on the premise that stairs are composed of several parallel planar surfaces. A 3D laser range finder (LRF) system equipped on a hexapod robot is developed for performing 3D scanning. The algorithm can be divided into two procedures. At first, detecting...
This paper presents a novel hexapod robot with legs radially free distributed around the body. Compared with radial symmetric or rectangular symmetric robots, the legs of radially free distributed hexapod robot can rotate around the body of the robot and redistribute their positions thanks to the proposed radially free distribution mechanism. The kinematic model of the articulated leg mechanism is...
In this paper, a hexapod robot that consists of its body and six legs is considered. The leg mechanism is a 1-UP&2-UPS (U-universal joint, P-prismatic joint and S-spherical joint) parallel mechanism with three degree-of-freedoms (DOFs). A comparative investigation of tracking control methods in the hexapod robot with parallel legs is presented. The methods include standard PID control, position-velocity...
A novel hexapod robot with 3-DOF parallel leg mechanisms is presented in this paper. The payload capability of the robot has a high promotion due to the utilizing of parallel mechanisms. Meanwhile, a novel force distribution approach of joint space distribution for redundant actuation system is proposed to optimize joint forces in order to promote the payload capability of the robot. Usually, the...
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