Optimization of hexapod robot locomotion

Luneckas, Tomas; Udris, Dainius

Use this URL to cite this publication: https://hdl.handle.net/20.500.14911/125100

Optimization of hexapod robot locomotion

Details

Publication Type (CRIS)

Straipsnis konferencijos medžiagoje Web of Science duomenų bazėje / Article in conference proceedings in Web of Science database (P1a1)

Publication Type (eLABa)

Straipsnis konferencijos darbų leidinyje Web of Science DB / Article in conference proceedings Web of Science DB (P1a)

Author(s)

Author	Affiliation
Luneckas, Tomas	Elektros inžinerijos katedra / Department of Electrical Engineering (0558)
Udris, Dainius	Elektros inžinerijos katedra / Department of Electrical Engineering (0558)

Title

Optimization of hexapod robot locomotion

[en]

Tomas Luneckas, Dainius Udris

Is part of

ECT - 2009: proceedings of the 4th international conference on electrical and control technologies, May 7-8, 2009, Kaunas, Lithuania / Kaunas University of Technology, IFAC Committee of National Lithuanian Organisation, Lithuanian Electricity Association, Full Member Of EURELECTRIC

Published In

Year	Start Page	End Page
2009	40	43

Publisher

Kaunas : Technologija

Referenced in Database(s)(DBs)

Conference Proceedings Citation Index - Science (Web of Science)

Extent

p. 40-43

URI

URI
https://hdl.handle.net/20.500.14911/125100

Cited references

Science / Art Area

Technologijos mokslai / Technological sciences (T)

Field of Science / Art

Elektros ir elektronikos inžinerija / Electrical and electronic engineering (T001)

Keywords (en)

Abstract (en)

Hexapod robot moving through irregular terrain must adapt it's locomotion in order to sustain stable and fast movement. Chosen gaits and control methods have to vouch an optimal leg positioning and coordination. An inverse kinematics method is introduced for positioning legs to a needed point. Means of leg contact with ground indications using tactile sensors are discussed and their influence to robot control is discussed. Simple obstacle detection method using IR sensors is presented. Aim is to adapt all these methods into a real-time control system.