eprintid: 12998
rev_number: 17
eprint_status: archive
userid: 1903
dir: disk0/00/01/29/98
datestamp: 2012-12-11 11:12:50
lastmod: 2016-04-21 12:18:12
status_changed: 2012-12-11 11:12:50
type: conference_item
metadata_visibility: show
item_issues_count: 0
creators_name: Romero Rey, Gregorio
creators_name: Félez Mindán, Jesús
creators_name: Gómez-Elvira González, Miguel Angel
title: Analysis and 2D Simulation of a Hexapod Robot Leg for Remote Exploration
ispublished: pub
subjects: robotica
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
date: 2011
date_type: published
publisher: IEEE
official_url: http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=5754220
full_text_status: public
pres_type: paper
place_of_pub: EEUU
pagerange: 230-235
event_title: 2011 UkSim 13th International Conference on Computer Modelling and Simulation (UKSim)
event_location: Cambridge, UK
event_dates: 30/03/2011 - 01/04/2011
event_type: conference
institution: Industriales
department: Ingenieria_Mecanica
refereed: TRUE
isbn: 978-1-61284-705-4
book_title: Proceedings of 2011 UkSim 13th International Conference on Computer Modelling and Simulation (UKSim)
rights: by-nc-nd
citation:   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.    
document_url: https://oa.upm.es/12998/2/INVE_MEM_2011_108678.pdf