Memorias de investigación
Communications at congresses:
Analysis and 2D Simulation of a Hexapod Robot Leg for Remote Exploration
Year:2011
Research Areas
  • Mechanical aeronautics and naval engineering
Information
Abstract
A walking machine is a wheeled rover alternative, well suited for work in an unstructured environment and specially in abrupt terrain. They have some drawback like speed and power consumption, but they can achieve complex movements and protrude very little the environment they are working on. The locomotion system is determined by the terrain conditions and, in our case, this legged design has been chosen based in a working area like Rio Tinto in the South of Spain, which is a river area with abrupt terrain. A walking robot with so many degrees of freedom can be a challenge when dealing with the analysis and simulations of the legs. This paper shows how to deal with the kinematical analysis of the equations of a hexapod robot based on a design developed by the Center of Astrobiology INTA-CSIC following the classical formulation of equations.
International
Si
Congress
13th International Conference on Modelling and Simulation - UkSim-AMSS 2011, de IEEE
960
Place
Cambridge, United Kingdom
Reviewers
Si
ISBN/ISSN
978-0-7695-4376-5
Start Date
30/03/2011
End Date
01/04/2011
From page
230
To page
235
13th International Conference on Modelling and Simulation - UkSim-AMSS 2011, de IEEE
Participants
Research Group, Departaments and Institutes related
  • Creador: Grupo de Investigación: Tecnologías ferroviarias y simulación avanzada
  • Departamento: Ingeniería Mecánica y de Fabricación