六足动物
地形
稳健性(进化)
机器人
计算机科学
攀登
移动机器人
模拟
人工智能
计算机视觉
工程类
航空航天工程
生物化学
生物
基因
化学
生态学
作者
Xiaoqing Zhu,Dengyu Ran,Chentong Xiang,Jiahui Zhang,Ge Li,Zhicheng Chen,Yuwen Fang
标识
DOI:10.1109/wcica.2018.8630361
摘要
Wheeled robot seems to be the best vehicles, however it can't pass unstructured terrain; tracked robot has the ability to go through unstructured terrain, but it has the disadvantages of heavy mass and poor speed. In order to conquer those shortcomings, this paper proposes a novel hexapod robot, which can move fast and even climb stairs easily. Firstly, the design of hexapod robot is explained with our unique multilayer C-shape legs, which are developed to effectively reduce stress concentration problem on leg. Secondly, a complete dynamic analysis is made to prove the feasibility of structure and algorithm. Thirdly, an intelligence control algorithm is developed to improve the robustness. Moreover, the simulation and physical experiment results are given to verify the proposed design and algorithm.
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