TY - GEN
T1 - Design and Experimental Evaluation of a Hexapod Mobile Robot with C-Shaped Legs
AU - Wu, Yujie
AU - Li, Dangchao
AU - Dong, Xia
AU - Wang, Xin
AU - Zheng, Chunli
AU - Zhu, Aibin
AU - Zhang, Zheng
AU - Zhou, Xu
AU - Zhang, Yulin
N1 - Publisher Copyright:
© 2023 IEEE.
PY - 2023
Y1 - 2023
N2 - Drawing on extant literature on hexapod robots, we present a novel obstacle-crossing hexapod robot that can adapt to multiple terrains. We designed the robot's entire mechanical structure, established a mathematical model for the robot leg, deduced the kinematic equation of the leg, and determined the relationship between the robot's motion speed and the motor angle. Through force analysis of the C-shaped leg, we obtained the function between motor output torque and motion phase. Subsequently, we constructed the physical hexapod robot and conducted performance testing. Our experimental results demonstrate that the hexapod robot can move at a speed of 0.5 m/s and successfully cross a 10 cm obstacle. The robot exhibits excellent movement performance and satisfies the functional requirements. Overall, our design offers a promising approach for developing hexapod robots that can navigate a variety of terrains.
AB - Drawing on extant literature on hexapod robots, we present a novel obstacle-crossing hexapod robot that can adapt to multiple terrains. We designed the robot's entire mechanical structure, established a mathematical model for the robot leg, deduced the kinematic equation of the leg, and determined the relationship between the robot's motion speed and the motor angle. Through force analysis of the C-shaped leg, we obtained the function between motor output torque and motion phase. Subsequently, we constructed the physical hexapod robot and conducted performance testing. Our experimental results demonstrate that the hexapod robot can move at a speed of 0.5 m/s and successfully cross a 10 cm obstacle. The robot exhibits excellent movement performance and satisfies the functional requirements. Overall, our design offers a promising approach for developing hexapod robots that can navigate a variety of terrains.
UR - https://www.scopus.com/pages/publications/85171557650
U2 - 10.1109/ICARM58088.2023.10218915
DO - 10.1109/ICARM58088.2023.10218915
M3 - 会议稿件
AN - SCOPUS:85171557650
T3 - 2023 8th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2023
SP - 336
EP - 341
BT - 2023 8th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2023
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 8th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2023
Y2 - 8 July 2023 through 10 July 2023
ER -