Observatorio de I+D+i UPM

Descripción
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.
Internacional	Si
Nombre congreso	13th International Conference on Modelling and Simulation - UkSim-AMSS 2011, de IEEE
Tipo de participación	960
Lugar del congreso	Cambridge, United Kingdom
Revisores	Si
ISBN o ISSN	978-0-7695-4376-5
DOI
Fecha inicio congreso	30/03/2011
Fecha fin congreso	01/04/2011
Desde la página	230
Hasta la página	235
Título de las actas	13th International Conference on Modelling and Simulation - UkSim-AMSS 2011, de IEEE

Esta actividad pertenece a memorias de investigación

• Autor: Gregorio Romero Rey (UPM)
• Autor: Luis Jesus Felez Mindan (UPM)

• Creador: Grupo de Investigación: Tecnologías ferroviarias y simulación avanzada
• Departamento: Ingeniería Mecánica y de Fabricación