Stable Cliff Climbing For Hexapod Robot With Articulated Body

The paper describes kinematic control for hexapod robot with three{segment articulated body. Forward and inverse kinematics for articulated body de- scribed. Static stability studied in case of climbing the so{called cli obstacle. Conditions for static stability during climbing sequence provided.

Bibliographic Details

Main Author:	Panchenko, A. V. (author)
Other Authors:	Pavlovsky, V. E. (author)
Format:	article
Language:	Spanish
Published:	2018
Subjects:	Multi{legged robot; obstacle climbing; articulated body; simulation.
Online Access:	http://revistas.utp.ac.pa/index.php/memoutp/article/view/1980 http://ridda2.utp.ac.pa/handle/123456789/5792
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