Publication Details

Design, Construction and Control of Hexapod Walking Robot

ŽÁK, M.; ROZMAN, J. Design, Construction and Control of Hexapod Walking Robot. In 2015 IEEE 13th International Scientific Conference on Informatics, INFORMATICS 2015 - Proceedings. Poprad: Faculty of Electrical Engineering and Informatics, University of Technology Košice, 2016. p. 302-307. ISBN: 978-1-4673-9867-1.
Czech title
Návrh, konstrukce a řízení robota typu hexapod
Type
conference paper
Language
English
Authors
Žák Marek, Ing., Ph.D.
Rozman Jaroslav, Ing., Ph.D. (DITS)
Keywords

hexapod, walking chassis, hexapod control

Abstract

This paper deals with design, construction and control of a hexapod (i.e.
six-legged ) walking robot. Basic characteristics of legged robots, a few
existing robots and their pros and cons are described in the introduction of this
paper. Next, basic gaits, which are used by legged robots for their locomotion
are mentioned here. Main part of the paper is focused on the result of our
project - on the six-legged robot, which can walk using tripod, wave and ripple
gait and which is equipped with sonars, force-sensitive resistors and encoders.
This our robot is controlled and monitored from an user interface program, which
can display data from the sensors and the positions of robot legs. The robot can
be used to test and verify algorithms, gaits and features of hexapod walking
robots.

Published
2016
Pages
302–307
Proceedings
2015 IEEE 13th International Scientific Conference on Informatics, INFORMATICS 2015 - Proceedings
Conference
Informatics 2015 - 13th International Scientific Conference on Informatics, Poprad, SK
ISBN
978-1-4673-9867-1
Publisher
Faculty of Electrical Engineering and Informatics, University of Technology Košice
Place
Poprad
DOI
10.1109/Informatics.2015.7377851
UT WoS
000380535000054
EID Scopus
2-s2.0-84963677400
BibTeX 
@inproceedings{BUT119893,
  author="Marek {Žák} and Jaroslav {Rozman}",
  title="Design, Construction and Control of Hexapod Walking Robot",
  booktitle="2015 IEEE 13th International Scientific Conference on Informatics, INFORMATICS 2015 - Proceedings",
  year="2016",
  pages="302--307",
  publisher="Faculty of Electrical Engineering and Informatics, University of Technology Košice",
  address="Poprad",
  doi="10.1109/Informatics.2015.7377851",
  isbn="978-1-4673-9867-1",
  url="https://www.fit.vut.cz/research/publication/10950/"
}
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