Abstract
We design a hexapod with closed-loop legs which can achieve locomotion in the horizontal plane with small vertical displacement changes. Furthermore, the hexapod does not need any control if it uses the tripod gait to achieve straight movement, due to the specific property of its leg. Because the efficiency of dynamics computation plays an important role in many applications, so we combine the AB algorithm of Featherstone which is suited for the manipulator with a fixed base, the Orin’s DTS method which models the contact between the foot of robot with the ground, Brandl’s method disposing constraint problems and a constraint violation stability method which selects the Baumgert parameters dynamically to process a dynamic analysis of the hexapod. At the same time, the hexapod dynamics is analyzed by ADAMS which adopts the Newton-Euler MBDA(multi-body dynamic algorithm) to process the dynamics analysis. The analysis results of the hexapod with these algorithms are compared to show the differences of the results using the two algorithms and distinguish which algorithms needs less calculation operations for the hexapod.
Access provided by Autonomous University of Puebla. Download to read the full chapter text
Chapter PDF
Similar content being viewed by others
References
Gong, Z., Cheng, Z., Qian, J., et al.: The Robotics Mechanism Design. Publishing House of Electronics Industry, Beijing (1993)
Featherstone, C.: Robot Dynamics Algorithms. Kluwer Academic Publishing, Boston (1987)
Orin, D.E., McGhee, R.B.: Dynamic Computer Simulation of Robotic Mechanisms. Theory and Practice of Robots and Manipulators, 286–296 (1981)
Anderson, K.S., Hsu, Y.H.: Analytical Full-recursive Sensitivity Analysis for Multi-body Chain Systems. Multibody Systems Dynamics 8, 1–27 (2002)
Evangelos, K.S.: Practical Physics For Articulated Characters. In: Game Developers Conference (2004)
Li, X., Ying, R., Zhu, Q., et al.: Link Curve Atlas. Publishing House Of Chongqing, Chongqing (1993)
Hong, J.: Computational Dynamics of Multibody Systems. Higher Educational Press, Beijing (1999)
Marhefka, D.W., Orin, D.E.: Fuzzy Control of Quadrupedal Running. In: ICRA, pp. 3063–3070 (2000)
Lilly, K.W.: Efficient Dynamic Simulation Of Robotic Mechanisms. Kluwer Academic Publishers, London (1992)
McMillan, S., Orin, D.E., McGhee, R.B.: Efficient dynamic simulation of a underwater vehicle with a robotic manipulator. IEEE Transaction on systems, man, cybernetics 25, 1194–1206 (1995)
Zhao, W.: An Automatic Constraint Violation Stabilization Method for Differential/Algebraic Equations. Applied Mathematics and Mechanisms 21(1), 94–98 (2001)
DynaMechs Projects Information, http://dynamechs.sourceforge.net/projects.html
Shen, J., Li, C.: Research on a Kind of Hexapod Bio-robot. Mechanical Engineering and Automation, 139–141 (2008)
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2008 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Shen, J., Li, C., Wu, H. (2008). A Research on Dynamics of a Hexapod with Closed-Loop Legs. In: Xiong, C., Huang, Y., Xiong, Y., Liu, H. (eds) Intelligent Robotics and Applications. ICIRA 2008. Lecture Notes in Computer Science(), vol 5314. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-88513-9_113
Download citation
DOI: https://doi.org/10.1007/978-3-540-88513-9_113
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-88512-2
Online ISBN: 978-3-540-88513-9
eBook Packages: Computer ScienceComputer Science (R0)