Detail publikace

Design of Omni-directional Hexapod Robot with Horizontal Coxa Joint

ŽÁK, M. ROZMAN, J. ZBOŘIL, F.

Originální název

Design of Omni-directional Hexapod Robot with Horizontal Coxa Joint

Typ

článek ve sborníku ve WoS nebo Scopus

Jazyk

angličtina

Originální abstrakt

Legged robots have great potential to travel across rough terrain, but they mostly move quite slow. This paper deals with the design and construction of a omni-directional seven degrees of freedom hexapod (i.e. six-legged) robot which is equipped with a horizontal coxa joint. The wheels can be used in flat terrain so the robot can reach higher speeds and additional coxa joint makes the robot more robust when climbing in rough terrain. The robot is controlled by terrain adaptive movement controller, which reacts on terrain difficulty and adjusts robot movement speed and gait.

Klíčová slova

Hexapod Control, Movement Controller, Horizontal Coxa Joint

Autoři

ŽÁK, M.; ROZMAN, J.; ZBOŘIL, F.

Vydáno

1. 11. 2019

Nakladatel

Faculty of Electrical Engineering and Informatics, University of Technology Košice

Místo

Poprad

ISBN

978-1-7281-3179-5

Kniha

INFORMATICS 2019 - IEEE 15th International Scientific Conference on Informatics, Proceedings

Strany od

119

Strany do

123

Strany počet

5

BibTex

@inproceedings{BUT161451,
  author="Marek {Žák} and Jaroslav {Rozman} and František {Zbořil}",
  title="Design of Omni-directional Hexapod Robot with Horizontal Coxa Joint",
  booktitle="INFORMATICS 2019 - IEEE 15th International Scientific Conference on Informatics, Proceedings",
  year="2019",
  pages="119--123",
  publisher="Faculty of Electrical Engineering and Informatics, University of Technology Košice",
  address="Poprad",
  doi="10.1109/Informatics47936.2019.9119326",
  isbn="978-1-7281-3179-5"
}