Kinematics, Dynamic Systems, and Controls final project
Hexapod Kinematics
Group members: Athma Narayanan, Joel Feske
ABSTRACT
Walking robots are more versatile than wheeled or tracked robots, as they can easily traverse rough terrain. In this paper, we describe the development of a kinematic model for use in the simulation of three different walking gaits for a hexapod robot. We discuss the criteria for static stability using the concept of support polygons, and analyze the walking speed of three statically stable gaits as a function of the duty factor β. This simulator allows for better intuition about the performance of the hexapod using various gaits, and will facilitate future work, which will include a dynamical model, and the implementation of a simple control system to handle disturbances to the system.
Walking robots are more versatile than wheeled or tracked robots, as they can easily traverse rough terrain. In this paper, we describe the development of a kinematic model for use in the simulation of three different walking gaits for a hexapod robot. We discuss the criteria for static stability using the concept of support polygons, and analyze the walking speed of three statically stable gaits as a function of the duty factor β. This simulator allows for better intuition about the performance of the hexapod using various gaits, and will facilitate future work, which will include a dynamical model, and the implementation of a simple control system to handle disturbances to the system.
Walking Gaits: ripple, tripod, and wave
