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Robotics 2018, 7(3), 48; https://doi.org/10.3390/robotics7030048

Stability and Gait Planning of 3-UPU Hexapod Walking Robot

1
School of Mechanical Engineering, North University of China, Taiyuan 030051, China
2
Department of Mechanical and Manufacturing Engineering, Aalborg University, 9220 Aalborg, Denmark
3
Department of Informatics, University of Hamburg, 22527 Hamburg, Germany
*
Author to whom correspondence should be addressed.
Received: 26 July 2018 / Revised: 17 August 2018 / Accepted: 29 August 2018 / Published: 31 August 2018
(This article belongs to the Special Issue Mechanism Design for Robotics)
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Abstract

The paper presents an innovative hexapod walking robot built with 3-UPU parallel mechanism. In the robot, the parallel mechanism is used as both an actuator to generate walking and also a connecting body to connect two groups of three legs, thus enabling the robot to walk with simple gait by very few motors. In this paper, forward and inverse kinematics solutions are obtained. The workspace of the parallel mechanism is analyzed using limit boundary search method. The walking stability of the robot is analyzed, which yields the robot’s maximum step length. The gait planning of the hexapod walking robot is studied for walking on both flat and uneven terrains. The new robot, combining the advantages of parallel robot and walking robot, has a large carrying capacity, strong passing ability, flexible turning ability, and simple gait control for its deployment for uneven terrains. View Full-Text
Keywords: hexapod walking robot; 3-UPU parallel mechanism; kinematics; stability; gait planning hexapod walking robot; 3-UPU parallel mechanism; kinematics; stability; gait planning
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This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited (CC BY 4.0).
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Li, R.; Meng, H.; Bai, S.; Yao, Y.; Zhang, J. Stability and Gait Planning of 3-UPU Hexapod Walking Robot. Robotics 2018, 7, 48.

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