Detail výsledku

Design of Omni-directional Hexapod Robot with Horizontal Coxa Joint

ŽÁK, M.; ROZMAN, J.; ZBOŘIL, F. Design of Omni-directional Hexapod Robot with Horizontal Coxa Joint. In INFORMATICS 2019 - IEEE 15th International Scientific Conference on Informatics, Proceedings. Poprad: Faculty of Electrical Engineering and Informatics, University of Technology Košice, 2019. p. 119-123. ISBN: 978-1-7281-3179-5.
Typ
článek ve sborníku konference
Jazyk
anglicky
Autoři
Žák Marek, Ing., Ph.D., UITS (FIT)
Rozman Jaroslav, Ing., Ph.D., UITS (FIT)
Zbořil František, doc. Ing., CSc., UAMT (FEKT), UITS (FIT)
Abstrakt

Legged robots have great potential to travel across
rough terrain, but they mostly move quite slow. This paper
deals with the design and construction of a omni-directional
seven degrees of freedom hexapod (i.e. six-legged) robot which is equipped with a horizontal coxa joint. The wheels can be used in flat terrain so the robot can reach higher speeds and additional coxa joint makes the robot more robust when climbing in rough terrain. The robot is controlled by terrain adaptive movement controller, which reacts on terrain difficulty and adjusts robot movement speed and gait.

Klíčová slova

Hexapod Control, Movement Controller, Horizontal Coxa Joint

Rok
2019
Strany
119–123
Sborník
INFORMATICS 2019 - IEEE 15th International Scientific Conference on Informatics, Proceedings
Konference
2019 IEEE 15th International Scientific Conference on Informatics
ISBN
978-1-7281-3179-5
Vydavatel
Faculty of Electrical Engineering and Informatics, University of Technology Košice
Místo
Poprad
DOI
10.1109/Informatics47936.2019.9119326
UT WoS
000610452900019
EID Scopus
2-s2.0-85087641917
BibTeX 
@inproceedings{BUT161451,
  author="Marek {Žák} and Jaroslav {Rozman} and František {Zbořil}",
  title="Design of Omni-directional Hexapod Robot with Horizontal Coxa Joint",
  booktitle="INFORMATICS 2019 - IEEE 15th International Scientific Conference on Informatics, Proceedings",
  year="2019",
  pages="119--123",
  publisher="Faculty of Electrical Engineering and Informatics, University of Technology Košice",
  address="Poprad",
  doi="10.1109/Informatics47936.2019.9119326",
  isbn="978-1-7281-3179-5"
}
Projekty
Bezpečné a spolehlivé počítačové systémy, VUT, Vnitřní projekty VUT, FIT-S-17-4014, zahájení: 2017-03-01, ukončení: 2020-02-29, ukončen
IT4Innovations excellence in science, MŠMT, Národní program udržitelnosti II, LQ1602, zahájení: 2016-01-01, ukončení: 2020-12-31, ukončen
Výzkumné skupiny
Výzkumná skupina inteligentních systémů (VZ INTSYS)
Pracoviště
Ústav inteligentních systémů (UITS)
Nahoru