Publication result detail

Design of Omni-directional Hexapod Robot with Horizontal Coxa Joint

ŽÁK, M.; ROZMAN, J.; ZBOŘIL, F.

Original Title

Design of Omni-directional Hexapod Robot with Horizontal Coxa Joint

English Title

Design of Omni-directional Hexapod Robot with Horizontal Coxa Joint

Type

Paper in proceedings (conference paper)

Original Abstract

Legged robots have great potential to travel across
rough terrain, but they mostly move quite slow. This paper
deals with the design and construction of a omni-directional
seven degrees of freedom hexapod (i.e. six-legged) robot which is equipped with a horizontal coxa joint. The wheels can be used in flat terrain so the robot can reach higher speeds and additional coxa joint makes the robot more robust when climbing in rough terrain. The robot is controlled by terrain adaptive movement controller, which reacts on terrain difficulty and adjusts robot movement speed and gait.

English abstract

Legged robots have great potential to travel across
rough terrain, but they mostly move quite slow. This paper
deals with the design and construction of a omni-directional
seven degrees of freedom hexapod (i.e. six-legged) robot which is equipped with a horizontal coxa joint. The wheels can be used in flat terrain so the robot can reach higher speeds and additional coxa joint makes the robot more robust when climbing in rough terrain. The robot is controlled by terrain adaptive movement controller, which reacts on terrain difficulty and adjusts robot movement speed and gait.

Keywords

Hexapod Control, Movement Controller, Horizontal Coxa Joint

Key words in English

Hexapod Control, Movement Controller, Horizontal Coxa Joint

Authors

ŽÁK, M.; ROZMAN, J.; ZBOŘIL, F.

RIV year

2020

Released

01.11.2019

Publisher

Faculty of Electrical Engineering and Informatics, University of Technology Košice

Location

Poprad

ISBN

978-1-7281-3179-5

Book

INFORMATICS 2019 - IEEE 15th International Scientific Conference on Informatics, Proceedings

Pages from

119

Pages to

123

Pages count

5

BibTex

@inproceedings{BUT161451,
  author="Marek {Žák} and Jaroslav {Rozman} and František {Zbořil}",
  title="Design of Omni-directional Hexapod Robot with Horizontal Coxa Joint",
  booktitle="INFORMATICS 2019 - IEEE 15th International Scientific Conference on Informatics, Proceedings",
  year="2019",
  pages="119--123",
  publisher="Faculty of Electrical Engineering and Informatics, University of Technology Košice",
  address="Poprad",
  doi="10.1109/Informatics47936.2019.9119326",
  isbn="978-1-7281-3179-5"
}