Modeling and Control of an Articulated Tail for Maneuvering a Reduced Degree of Freedom Legged Robot

2018 ◽  
Author(s):  
Wael Saab ◽  
Jiteng Yang ◽  
Pinhas Ben-Tzvi
Keyword(s):  
Degree Of Freedom ◽  
Legged Robot ◽  
Modeling And Control ◽  
And Control

Modeling and Control Balance Design for a New Bio-inspired Four-Legged Robot

2019 ◽  
pp. 728-739
Author(s):  
Hiram Ponce ◽  
Mario Acevedo ◽  
Elizabeth Morales-Olvera ◽  
Lourdes Martínez-Villaseñor ◽  
Gabriel Díaz-Ramos ◽  
...  
Keyword(s):  
Legged Robot ◽  
Modeling And Control ◽  
Balance Design ◽  
And Control ◽  
Control Balance

Dynamic Modeling and Control of the Hexapod Robot Using Matlab SimMechanics

2018 ◽  
Author(s):  
Sameh I. Beaber ◽  
Abdelrahman S. Zaghloul ◽  
Mohamed A. Kamel ◽  
Wessam M. Hussein
Keyword(s):  
Dynamic Modeling ◽  
Kinematic Model ◽  
Inverse Kinematic ◽  
Legged Robot ◽  
Hexapod Robot ◽  
Modeling And Control ◽  
Robot Trajectory ◽  
Tripod Gait ◽  
Inverse Kinematic Analysis ◽  
And Control

This paper presents a detailed dynamic modeling of phantom ax12 six-legged robot using Matlab SimMechanics™. The direct and inverse kinematic analysis for each leg has been considered in order to develop an overall kinematic model of the robot. Trajectory of each leg is also considered for both swing and support phases when the robot walks with tripod gait in a straight path. Newton-Euler formulation has been utilized to determine the joint’s torque. These results were verified using SimMechanics™. Also, feet force distributions of the hexpaod are estimated via SimMechanics™, which is necessary for its control.

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