Modelling and static stability analyses of the hexa-quad bimorph walking robot

Dominik Wojtkowiak; Krzysztof Talaśka; Ireneusz Malujda; Jan Górecki; Dominik Wilczyński

doi:10.1051/matecconf/201925402029

All issues

Volume 254 (2019)

MATEC Web Conf., 254 (2019) 02029

References

Open Access

Issue		MATEC Web Conf. Volume 254, 2019 XXIII Polish-Slovak Scientific Conference on Machine Modelling and Simulations (MMS 2018)


Article Number		02029
Number of page(s)		12
Section		Modelling and Simulation, Structural Optimization
DOI		https://doi.org/10.1051/matecconf/201925402029
Published online		15 January 2019

D. Wojtkowiak, K. Talaśka, I. Malujda, Concept of the hexa-quad bimorph walking robot and the design of its prototype. Acta Mechanica et Automatica 12, 1, 60-65, (2018) [CrossRef] [Google Scholar]
M.M.A. Hajiabadi, Analytical Workspace, Kinematics, and Foot Force Based Stability of Hexapod Walking Robots [dissertation]. Worcester Polytechnic Institute (2013) [Google Scholar]
K. Inagaki, A gait study for one-leg-disabled hexapod robot. Adv. Robot. 12, 593-604 (1998) [CrossRef] [Google Scholar]
M-H. Hung, F-T. Cheng, H-L. Lee, D.E. Orin, Increasing the stability margin of multilegged vehicles through body sway. J Chin. Inst. Eng. 28, 39-54 (2005) [CrossRef] [Google Scholar]
E. Garcia, J. Estremera, P. Gonzalez-de-Santos, A comparative study of stability margins for walking machines. Robotica 20, 595-606 (2002) [CrossRef] [Google Scholar]
J-Y. Kim, B-H. Jun. Design of six-legged walking robot, Little Crabster for underwater walking and operation. Adv. Robot. 28, 77-89 (2014) [CrossRef] [Google Scholar]
W.A. Lewinger, M.S. Branicky., R.D. Quinn, Insect-inspired, actively compliant hexapod capable of object manipulation. In: CLAWAR Proceedings, London (UK), p. 65 – 72. (2005) [Google Scholar]
Y. Tang, S. Ma, Y. Sun, D. Ge, Planar legged walking of passive-spine hexapod robot. Adv. Robot. 29, 1510-1525 (2015) [CrossRef] [Google Scholar]
S. Bartsch, Development, control, and empirical evaluation of the six-legged robot SpaceClimber designed for extraterrestrial crater exploration [dissertation]. University of Bremen (2012) [Google Scholar]
M. Manz, S. Bartsch, F. Kirchner, MANTIS a robot with advanced locomotion and manipulation abilities. In: Symposium on Advanced Space Technologies in Robotics and Automation Proceedings, Noordwijk the Netherlands (2013) [Google Scholar]
D. Wojtkowiak, I. Malujda, K. Talaśka, et al., Influence of the Body Weight Distribution on the Walking Robot’s Gait Stability. Proceedia Engineering 177, 419-424, (2017) [CrossRef] [Google Scholar]
D. Wojtkowiak, K. Talaśka, Metodyka wyznaczania położenia środka ciężkości na przykładzie sześcionożnego bimorficznego robota kroczącego. In: Nasze Stulecie Nauka dla Obronności 2018 Proceedings, Poznań, Poland (2018) [Google Scholar]

Current usage metrics show cumulative count of Article Views (full-text article views including HTML views, PDF and ePub downloads, according to the available data) and Abstracts Views on Vision4Press platform.

Data correspond to usage on the plateform after 2015. The current usage metrics is available 48-96 hours after online publication and is updated daily on week days.

Initial download of the metrics may take a while.

[1] D. Wojtkowiak, K. Talaśka, I. Malujda, Concept of the hexa-quad bimorph walking robot and the design of its prototype. Acta Mechanica et Automatica 12, 1, 60-65, (2018) [CrossRef] [Google Scholar]

[2] M.M.A. Hajiabadi, Analytical Workspace, Kinematics, and Foot Force Based Stability of Hexapod Walking Robots [dissertation]. Worcester Polytechnic Institute (2013) [Google Scholar]

[3] K. Inagaki, A gait study for one-leg-disabled hexapod robot. Adv. Robot. 12, 593-604 (1998) [CrossRef] [Google Scholar]

[4] M-H. Hung, F-T. Cheng, H-L. Lee, D.E. Orin, Increasing the stability margin of multilegged vehicles through body sway. J Chin. Inst. Eng. 28, 39-54 (2005) [CrossRef] [Google Scholar]

[5] E. Garcia, J. Estremera, P. Gonzalez-de-Santos, A comparative study of stability margins for walking machines. Robotica 20, 595-606 (2002) [CrossRef] [Google Scholar]

[6] J-Y. Kim, B-H. Jun. Design of six-legged walking robot, Little Crabster for underwater walking and operation. Adv. Robot. 28, 77-89 (2014) [CrossRef] [Google Scholar]

[7] W.A. Lewinger, M.S. Branicky., R.D. Quinn, Insect-inspired, actively compliant hexapod capable of object manipulation. In: CLAWAR Proceedings, London (UK), p. 65 – 72. (2005) [Google Scholar]

[8] Y. Tang, S. Ma, Y. Sun, D. Ge, Planar legged walking of passive-spine hexapod robot. Adv. Robot. 29, 1510-1525 (2015) [CrossRef] [Google Scholar]

[9] S. Bartsch, Development, control, and empirical evaluation of the six-legged robot SpaceClimber designed for extraterrestrial crater exploration [dissertation]. University of Bremen (2012) [Google Scholar]

[10] M. Manz, S. Bartsch, F. Kirchner, MANTIS a robot with advanced locomotion and manipulation abilities. In: Symposium on Advanced Space Technologies in Robotics and Automation Proceedings, Noordwijk the Netherlands (2013) [Google Scholar]

[11] D. Wojtkowiak, I. Malujda, K. Talaśka, et al., Influence of the Body Weight Distribution on the Walking Robot’s Gait Stability. Proceedia Engineering 177, 419-424, (2017) [CrossRef] [Google Scholar]

[12] D. Wojtkowiak, K. Talaśka, Metodyka wyznaczania położenia środka ciężkości na przykładzie sześcionożnego bimorficznego robota kroczącego. In: Nasze Stulecie Nauka dla Obronności 2018 Proceedings, Poznań, Poland (2018) [Google Scholar]