TY - GEN
T1 - Virtual model optimization and locomotion control of bionic hexapod robot
AU - Zhang, Jing
AU - Wang, Jianhua
AU - Chen, Weihai
AU - Chen, Wenjie
PY - 2012
Y1 - 2012
N2 - With reference to current biology research achievements of hexapod insects, this paper presents the design and optimization of structure of the bionic hexapod robot, imitating the cockroach body shape and structure features. Tripod Gaits is chosen as the robot's gait which is the most stable and fast gait for hexapod robots. We evaluate the performance of our design by testing it on the simulation system based on Virtools, which is an interactive integrating platform for virtual prototype and virtual environment. As a result of the adoption of the software, this paper relates in detail the message passing mechanism and a method of adjusting torque factor dynamic parameters, based on actuator's movement need. The result verifies the rationality of the structure and the locomotion flexibility of the robot.
AB - With reference to current biology research achievements of hexapod insects, this paper presents the design and optimization of structure of the bionic hexapod robot, imitating the cockroach body shape and structure features. Tripod Gaits is chosen as the robot's gait which is the most stable and fast gait for hexapod robots. We evaluate the performance of our design by testing it on the simulation system based on Virtools, which is an interactive integrating platform for virtual prototype and virtual environment. As a result of the adoption of the software, this paper relates in detail the message passing mechanism and a method of adjusting torque factor dynamic parameters, based on actuator's movement need. The result verifies the rationality of the structure and the locomotion flexibility of the robot.
KW - Bionic hexapod robot
KW - mechanism optimization
KW - simulation system
KW - tripod gaits
UR - https://www.scopus.com/pages/publications/84871705353
U2 - 10.1109/ICIEA.2012.6360779
DO - 10.1109/ICIEA.2012.6360779
M3 - 会议稿件
AN - SCOPUS:84871705353
SN - 9781457721175
T3 - Proceedings of the 2012 7th IEEE Conference on Industrial Electronics and Applications, ICIEA 2012
SP - 497
EP - 501
BT - Proceedings of the 2012 7th IEEE Conference on Industrial Electronics and Applications, ICIEA 2012
T2 - 2012 7th IEEE Conference on Industrial Electronics and Applications, ICIEA 2012
Y2 - 18 July 2012 through 20 July 2012
ER -