A Hexapod Robot with Non-Collocated Actuators
AbstractThe primary issue in developing hexapod robots is generating legged motion without tumbling. However, when the hexapod is designed with collocated actuators, where each joint is directly mounted with an actuator, the number of actuators is usually high. The adverse effects of using a great number of actuators include the rise in the challenge of algorithms to control legged motion, the decline in loading capacity, and the increase in the cost of construction. In order to alleviate these problems, we propose a hexapod robot design with non-collocated actuators which is achieved through mechanisms. This hexapod robot is reliable and robust which, because of its mechanism-generated (as opposed to computer-generated) tripod gaits, is always is statically stable, even if running out of battery or due to electronic failure. View Full-Text
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Hwang, M.-C.; Huang, C.-J.; Liu, F. A Hexapod Robot with Non-Collocated Actuators. Appl. Syst. Innov. 2018, 1, 20.
Hwang M-C, Huang C-J, Liu F. A Hexapod Robot with Non-Collocated Actuators. Applied System Innovation. 2018; 1(3):20.Chicago/Turabian Style
Hwang, Min-Chan; Huang, Chiou-Jye; Liu, Feifei. 2018. "A Hexapod Robot with Non-Collocated Actuators." Appl. Syst. Innov. 1, no. 3: 20.
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