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The Hexabot Robot: Kinematics and Robot Gait Selection

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dc.contributor.authorNelyubin, A. P.
dc.contributor.authorKreynin, G. V.
dc.contributor.authorNosova, N. Y.
dc.contributor.authorMisyurin, S. Y.
dc.contributor.authorChistiy, A. S.
dc.contributor.authorKhokhlov, N. M.
dc.contributor.authorMolchanov, E. M.
dc.contributor.authorМисюрин, Сергей Юрьевич
dc.date.accessioned2024-12-26T10:33:16Z
dc.date.available2024-12-26T10:33:16Z
dc.date.issued2022
dc.description.abstract© 2022, The Author(s), under exclusive license to Springer Nature Switzerland AG.The article is devoted to the problems of movement and control of a six-legged walking spider-robot. The direct and inverse problems of kinematics of a spatial mechanism are solved. The motion of a walking six-legged robot Hexabot (robot “spider”) with possibility of realization of different motions is considered. The task is to increase the speed of the robot's movement from one position to another by reducing the dynamic loads on the robot leg, as well as by choosing a more rational dynamically balanced gait. In solving the first part of the work, at the first stage, one leg is considered separately as an open kinematic system with three degrees of freedom. Equations of direct and inverse kinematics are obtained. The motion of the platform (the “body” of the spider) is not considered in this work.
dc.format.extentС. 297-305
dc.identifier.citationThe Hexabot Robot: Kinematics and Robot Gait Selection / Nelyubin, A.P. [et al.] // Studies in Computational Intelligence. - 2022. - 1032 SCI. - P. 297-305. - 10.1007/978-3-030-96993-6_32
dc.identifier.doi10.1007/978-3-030-96993-6_32
dc.identifier.urihttps://www.doi.org/10.1007/978-3-030-96993-6_32
dc.identifier.urihttps://www.scopus.com/record/display.uri?eid=2-s2.0-85127704804&origin=resultslist
dc.identifier.urihttp://gateway.webofknowledge.com/gateway/Gateway.cgi?GWVersion=2&SrcAuth=Alerting&SrcApp=Alerting&DestApp=WOS_CPL&DestLinkType=FullRecord&UT=WOS:000833484200032
dc.identifier.urihttps://openrepository.mephi.ru/handle/123456789/28936
dc.relation.ispartofStudies in Computational Intelligence
dc.titleThe Hexabot Robot: Kinematics and Robot Gait Selection
dc.typeConference Paper
dspace.entity.typePublication
oaire.citation.volume1032 SCI
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