Journal article 709 views 61 downloads
Static Balancing of Wheeled-legged Hexapod Robots
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Eduardo Castillo-Castaneda ,
Giuseppe Carbone
Robotics, Volume: 9, Issue: 2, Start page: 23
Swansea University Author:
Daniele Cafolla
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© 2020 by the authors. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license
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DOI (Published version): 10.3390/robotics9020023
Abstract
Locomotion over different terrain types, whether flat or uneven, is very important for a wide range of service operations in robotics. Potential applications range from surveillance, rescue, or hospital assistance. Wheeled-legged hexapod robots have been designed to solve these locomotion tasks. Giv...
| Published in: | Robotics |
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| ISSN: | 2218-6581 |
| Published: |
MDPI AG
2020
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| Online Access: |
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| URI: | https://cronfa.swan.ac.uk/Record/cronfa62502 |
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| Abstract: |
Locomotion over different terrain types, whether flat or uneven, is very important for a wide range of service operations in robotics. Potential applications range from surveillance, rescue, or hospital assistance. Wheeled-legged hexapod robots have been designed to solve these locomotion tasks. Given the wide range of feasible operations, one of the key operation planning issues is related to the robot balancing during motion tasks. Usually this problem is related with the pose of the robot’s center of mass, which can be addressed using different mathematical techniques. This paper proposes a new practical technique for balancing wheeled-legged hexapod robots, where a Biodex Balance System model SD (for static & dynamic) is used to obtain the effective position of the center of mass, thus it can be recalculated to its optimal position. Experimental tests are carried out to evaluate the effectiveness of this technique and modify and improve the position of hexapod robots’ center of mass. |
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| Keywords: |
static balancing; wheeled-legged hexapod robots; experimental robotics |
| College: |
Faculty of Science and Engineering |
| Issue: |
2 |
| Start Page: |
23 |