2011
IMAACA 2011 Proceeding
Design of a trajectory generator for a hexapod walking robot
Authors: C. Mahfoudi, M. Bouaziz, A Boulahia, K. Djouani, S. Rechak
Abstract
We present in this paper an original investigation on a walker hexapod robot for which we define a locomotion strategy considering the walk appearance characterized by the succession in time of the synchronized events of legs putting down and raising. The legs movements' synchronization is determined by the temporal phase displacement between the instants of legs putting down for which we define, for each one, the ratio between the duration passed spent on the ground and on the duration devoted to the replacement overhead phase. For the appearance implementation, we take into consideration the space distribution of legs ends trajectories, the one with regard to the other, and with regard to the gravity centre of the platform which plays a determining role on the locomotion stability. A simulation is made to illustrate the proposed approach results.
I3M Scientific Sponsors
I3M Industrial Sponsors
I3M Media Sponsors
