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Study on hexapod robot manipulation using legs

Published online by Cambridge University Press:  09 July 2014

Xilun Ding  and
Fan Yang
Xilun Ding
Affiliation:
Robotics Research Institute, Beihang University, Haidian District, Beijing, China
Fan Yang*
Affiliation:
Robotics Research Institute, Beihang University, Haidian District, Beijing, China
*
*Corresponding author: E-mail: robot.fan@me.buaa.edu.cn
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Summary

In order to provide a novel approach for the operational problems of walking robots, this paper presents a method by which a hexapod robot uses its legs to manipulate an object, and this involves the following two steps. First, two adjacent legs are used to manipulate the object. Next, the supporting legs are required to assist the arms to obtain high manipulability. The manipulation constraints, workplaces, and kinematic models are analyzed using screw theories. Moreover, an optimization algorithm is proposed to reduce energy consumption under stability constraints. We also introduce a manipulation control model that simultaneously considers the supporting and operating legs. Finally, the validity of these methods is proved by the results of experiments and simulations.

Keywords

ManipulationHexapod robotKinematic analysis

Information

Type
Articles
Information
Robotica , Volume 34 , Issue 2 , February 2016 , pp. 468 - 481
Copyright
Copyright © Cambridge University Press 2014 

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