Abstract
In this paper the authors present a software program to simulate hexapod robot stability in gravitational field for a certain configuration of legs using Matlab software package. The simulation software was created using geometrical modelling based on Denvait-Hartenberg algorithm and analyses the static stability of the robot in different stages of locomotion on horizontal surface for different leg configuration. The paper includes some experimental results related to the static gravitational stability depending on the support polygon formed by the legs on the ground.
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Mănoiu-Olaru, S., Niţulescu, M. (2013). Stability Analysis Software Platform Dedicated for a Hexapod Robot. In: Dumitrache, L. (eds) Advances in Intelligent Control Systems and Computer Science. Advances in Intelligent Systems and Computing, vol 187. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-32548-9_11
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DOI: https://doi.org/10.1007/978-3-642-32548-9_11
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