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A six-leg-wheel hybrid mobile robot was designed to move under uneven terrains. The dynamic simulaition model of the six-leg-wheel hybrid mobile robot was built using ADAMS software. The kinematic and dynamic characteristic simulation analysis was presented. These characteristics includes the displacement, velocity and acceleration of each part of the robot and driving torque of joints, contact force...
Some biped or wheeled-base humanoid robots have waist mechanism in their body structures. Humanoid robots with waist mechanism have large workspace and high agility. A novel waist configuration with parallel driving motor was introduced in this paper. This waist mechanism is driven by the differential-gear closed transmission. It can realize its pitch and yaw motion separately and composite motion...
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