@inproceedings{0ebc4898c2ab4da794899ce2ec612dc5,
title = "Dynamic modeling and torque distribution of a climbing hexapod robot",
abstract = "This paper deals with the kinematics, dynamics and joint torque distribution of a novel hexapod robot. In order to climb over large obstacles or high steps, a neck joint has been installed between the front and central part of the body. The formulation of dynamics is performed by the Lagrange{\textquoteright}s equations, using the robot screw theory and product of exponential method. The torque distribution model is settled based on the inverse dynamics and force distribution of the tip point. The analysis has been verified by simulation and experiments to further improve the design and control of the hexapod robot.",
keywords = "Dynamics, Hexapod robot, Screw theory, Torque distribution",
author = "Dong Liu and Weihai Chen and Zhongcai Pei and Jianhua Wang and Xingming Wu",
note = "Publisher Copyright: {\textcopyright} Springer International Publishing Switzerland 2015.; 3rd IFToMM Symposium on Mechanism Design for Robotics, MEDER 2015 ; Conference date: 02-06-2015 Through 04-06-2015",
year = "2015",
doi = "10.1007/978-3-319-18126-4\_13",
language = "英语",
isbn = "9783319181257",
series = "Mechanisms and Machine Science",
publisher = "Kluwer Academic Publishers",
pages = "133--144",
editor = "Marco Ceccarelli and Shaoping Bai",
booktitle = "Recent Advances in Mechanism Design for Robotics - Proceedings of the 3rd IFToMM Symposium on Mechanism Design for Robotics, MEDER 2015",
}