Simulation of the Insect Robot Walking Over Level Terrain
Апстракт
This paper presents a simulation procedure for generating a gait pattern and lateral motion sequence of a six legged robot. Gait pattern was studied and presented in the horizontal plane while lateral motion sequences were analyzed in the sagittal plane. Both analytical and graphical methods are used to study and to present gait and motion analysis over level terrain. Walking over level terrain demands particular gait selection, which is different from gaits for walking over irregular terrain. On one hand, restricting robot’s motion onto level terrain can be seen as restricting mobility of the hexapod model by neglecting the gaits for irregular terrain and their properties. On the other hand, focusing on the level terrain gaits provides a chance for development of the model. Finally, through Matlab® simulation, the usefulness of proposed simulation procedure is shown and results of the simulation are given.
Кључне речи:
Insect robot / Hexapod locomotion / Inverse kinematics / Matlab® simulationИзвор:
Proceedings of the 11th International Research/Expert Conference ”Trends in the Development of Machinery and Associated Technology” TMT 2007, Hammamet, Tunisia, 05-09 September, 2007, 603-606Издавач:
- Zenica : Faculty of Mechanical Engineering
Финансирање / пројекти:
- Флексибилна аутоматизација и имплементација интелигентних технолошких система у домену производње делова од лима (RS-MESTD-MPN2006-2010-14031)
Колекције
Институција/група
Mašinski fakultetTY - CONF AU - Vuković, Najdan AU - Miljković, Zoran PY - 2007 UR - https://machinery.mas.bg.ac.rs/handle/123456789/4481 AB - This paper presents a simulation procedure for generating a gait pattern and lateral motion sequence of a six legged robot. Gait pattern was studied and presented in the horizontal plane while lateral motion sequences were analyzed in the sagittal plane. Both analytical and graphical methods are used to study and to present gait and motion analysis over level terrain. Walking over level terrain demands particular gait selection, which is different from gaits for walking over irregular terrain. On one hand, restricting robot’s motion onto level terrain can be seen as restricting mobility of the hexapod model by neglecting the gaits for irregular terrain and their properties. On the other hand, focusing on the level terrain gaits provides a chance for development of the model. Finally, through Matlab® simulation, the usefulness of proposed simulation procedure is shown and results of the simulation are given. PB - Zenica : Faculty of Mechanical Engineering C3 - Proceedings of the 11th International Research/Expert Conference ”Trends in the Development of Machinery and Associated Technology” TMT 2007, Hammamet, Tunisia, 05-09 September T1 - Simulation of the Insect Robot Walking Over Level Terrain EP - 606 SP - 603 UR - https://hdl.handle.net/21.15107/rcub_machinery_4481 ER -
@conference{ author = "Vuković, Najdan and Miljković, Zoran", year = "2007", abstract = "This paper presents a simulation procedure for generating a gait pattern and lateral motion sequence of a six legged robot. Gait pattern was studied and presented in the horizontal plane while lateral motion sequences were analyzed in the sagittal plane. Both analytical and graphical methods are used to study and to present gait and motion analysis over level terrain. Walking over level terrain demands particular gait selection, which is different from gaits for walking over irregular terrain. On one hand, restricting robot’s motion onto level terrain can be seen as restricting mobility of the hexapod model by neglecting the gaits for irregular terrain and their properties. On the other hand, focusing on the level terrain gaits provides a chance for development of the model. Finally, through Matlab® simulation, the usefulness of proposed simulation procedure is shown and results of the simulation are given.", publisher = "Zenica : Faculty of Mechanical Engineering", journal = "Proceedings of the 11th International Research/Expert Conference ”Trends in the Development of Machinery and Associated Technology” TMT 2007, Hammamet, Tunisia, 05-09 September", title = "Simulation of the Insect Robot Walking Over Level Terrain", pages = "606-603", url = "https://hdl.handle.net/21.15107/rcub_machinery_4481" }
Vuković, N.,& Miljković, Z.. (2007). Simulation of the Insect Robot Walking Over Level Terrain. in Proceedings of the 11th International Research/Expert Conference ”Trends in the Development of Machinery and Associated Technology” TMT 2007, Hammamet, Tunisia, 05-09 September Zenica : Faculty of Mechanical Engineering., 603-606. https://hdl.handle.net/21.15107/rcub_machinery_4481
Vuković N, Miljković Z. Simulation of the Insect Robot Walking Over Level Terrain. in Proceedings of the 11th International Research/Expert Conference ”Trends in the Development of Machinery and Associated Technology” TMT 2007, Hammamet, Tunisia, 05-09 September. 2007;:603-606. https://hdl.handle.net/21.15107/rcub_machinery_4481 .
Vuković, Najdan, Miljković, Zoran, "Simulation of the Insect Robot Walking Over Level Terrain" in Proceedings of the 11th International Research/Expert Conference ”Trends in the Development of Machinery and Associated Technology” TMT 2007, Hammamet, Tunisia, 05-09 September (2007):603-606, https://hdl.handle.net/21.15107/rcub_machinery_4481 .