Gait Generation and Control of a Hexapod Walking Robot
نویسندگان
چکیده
منابع مشابه
Gait Generation and Control of a Hexapod Walking Robot
In this paper, the mechanical structure of a hexapod walking robot is presented and the kinematic model is established. The foot trajectory of each leg, which is optimized by genetic algorithms to minimize energetic cost, was proposed with two different gait patterns applied. Control system was divided into coordination-layer and execution-layer. Coordination-layer, was a PC responsible, for wh...
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ژورنال
عنوان ژورنال: The Open Electrical & Electronic Engineering Journal
سال: 2014
ISSN: 1874-1290
DOI: 10.2174/1874129001408010335