Detail publikačního výsledku

Design of Omni-directional Hexapod Robot with Horizontal Coxa Joint

ŽÁK, M.; ROZMAN, J.; ZBOŘIL, F.

Originální název

Design of Omni-directional Hexapod Robot with Horizontal Coxa Joint

Anglický název

Design of Omni-directional Hexapod Robot with Horizontal Coxa Joint

Druh

Stať ve sborníku v databázi WoS či Scopus

Originální abstrakt

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.

Anglický abstrakt

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.

Klíčová slova

Hexapod Control, Movement Controller, Horizontal Coxa Joint

Klíčová slova v angličtině

Hexapod Control, Movement Controller, Horizontal Coxa Joint

Autoři

ŽÁK, M.; ROZMAN, J.; ZBOŘIL, F.

Rok RIV

2020

Vydáno

01.11.2019

Nakladatel

Faculty of Electrical Engineering and Informatics, University of Technology Košice

Místo

Poprad

ISBN

978-1-7281-3179-5

Kniha

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

Strany od

119

Strany do

123

Strany počet

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"
}