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Force distribution is an important problem for the legged robots with active force control, the allocation of the foot forces can also achieve a desired force and torque on the hexapod robot. This paper presents a force distribution algorithm for redundant problem reduction, linearization and reducing the internal force. Combining the distribution algorithm with force control, the robot can walk on...
This paper deals with the interaction forces between robotic foot and the soft terrain, in conjunction with the Terzaghi theory. To date, some basic assumptions and conclusions for Terzaghi theory are analyzed. Terzaghi is recognized as a popular option to predict the bearing capacity of the terrain with upper structures. In this paper, static models in Terzaghi theory and its extended versions are...
Gait planning is an important part of robotics research, and turning gait is an important and useful walking gait of a hexapod robot. But researches on turning gait of hexapod robots are limited. This paper presents the structure of a hydraulic hexapod walking robot. The coordinate of the leg is defined, and the positive and inverse kinematic equation of the leg is established. Foot trajectory based...
Gait parameters play a significant role in the locomotion of a hexapod walking robot used for different goals. Stride length and frequency are the two most important and useful gait parameters of hexapod robots. This paper presents the configuration of a hydraulic hexapod walking robot. The typical gaits of hexapod robot are introduced and the kinematic model of the robot is established. Four performance...
Center of mass domain of a hexapod robot must be determined in order to analyze the mobility performance and accomplish the high-fidelity simulation. Hexapod robot is simplified as a system of particles based on the structure characteristics of the developed hydraulically actuated hexapod robot. Position vectors of all mass points are established by coordinate transformation. Center of mass position...
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