Analysis and 2D Simulation of a Hexapod Robot Leg for Remote Exploration

Romero Rey, Gregorio and Félez Mindán, Jesús and Gómez-Elvira González, Miguel Angel (2011). Analysis and 2D Simulation of a Hexapod Robot Leg for Remote Exploration. In: "2011 UkSim 13th International Conference on Computer Modelling and Simulation (UKSim)", 30/03/2011 - 01/04/2011, Cambridge, UK. ISBN 978-1-61284-705-4. pp. 230-235.

Description

Title: Analysis and 2D Simulation of a Hexapod Robot Leg for Remote Exploration
Author/s:
  • Romero Rey, Gregorio
  • Félez Mindán, Jesús
  • Gómez-Elvira González, Miguel Angel
Item Type: Presentation at Congress or Conference (Article)
Event Title: 2011 UkSim 13th International Conference on Computer Modelling and Simulation (UKSim)
Event Dates: 30/03/2011 - 01/04/2011
Event Location: Cambridge, UK
Title of Book: Proceedings of 2011 UkSim 13th International Conference on Computer Modelling and Simulation (UKSim)
Date: 2011
ISBN: 978-1-61284-705-4
Subjects:
Faculty: E.T.S.I. Industriales (UPM)
Department: Ingeniería Mecánica y de Fabricación [hasta 2014]
Creative Commons Licenses: Recognition - No derivative works - Non commercial

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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

More information

Item ID: 12998
DC Identifier: http://oa.upm.es/12998/
OAI Identifier: oai:oa.upm.es:12998
Official URL: http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=5754220
Deposited by: Memoria Investigacion
Deposited on: 11 Dec 2012 11:12
Last Modified: 21 Apr 2016 12:18
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