Proceedings of the 4th International Conference on Mechatronics, Materials, Chemistry and Computer Engineering 2015

Six-legged Walking Robot’s Gait Planning and Kinematics Analysis under the Environment of Concave Ground

Authors
Yangyang Fan, Yunwei Zhang, Yong Yu, Ling Chen, Xiangyi Zeng, Shuang Gou
Corresponding Author
Yangyang Fan
Available Online December 2015.
DOI
https://doi.org/10.2991/icmmcce-15.2015.548How to use a DOI?
Keywords
Six-legged robot ,Translational homogeneous transformation,Rotation homogeneous transformation,Kinematics.
Abstract
Legged robot has advantages with high degree of freedom, flexibility and strong adaptability to the ground. So this paper presents a posture in concave ground environment of a leg organization of a six-legged robot and proposes a gait planning of six-legged robot, which ensure it to move smoothly and efficiently. Using homogeneous and rotational homogeneous transformation to analyze the kinematics model of standing leg and swinging leg, and then calculate the kinematics equation. It laysthe foundation for the further study of the motion control of robot.
Open Access
This is an open access article distributed under the CC BY-NC license.

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Cite this article

TY  - CONF
AU  - Yangyang Fan
AU  - Yunwei Zhang
AU  - Yong Yu
AU  - Ling Chen
AU  - Xiangyi Zeng
AU  - Shuang Gou
PY  - 2015/12
DA  - 2015/12
TI  - Six-legged Walking Robot’s Gait Planning and Kinematics Analysis under the Environment of Concave Ground
BT  - Proceedings of the 4th International Conference on Mechatronics, Materials, Chemistry and Computer Engineering 2015
PB  - Atlantis Press
SN  - 2352-538X
UR  - https://doi.org/10.2991/icmmcce-15.2015.548
DO  - https://doi.org/10.2991/icmmcce-15.2015.548
ID  - Fan2015/12
ER  -