TY - JOUR
T1 - Experiences on a hybrid locomotion approach to overcome obstacles with Cassino Hexapod III
AU - Orozco Magdaleno, Ernesto Christian
AU - Carbone, Giuseppe
AU - Castillo Castañeda, Eduardo
N1 - Publisher Copyright:
© Springer Nature Switzerland AG 2019
PY - 2019
Y1 - 2019
N2 - This paper describes the Cassino Hexapod III, a hybrid omniwheeled-legged hexapod robot, which has been designed and built at LARM in Cassino. Hybrid locomotion of the robot is simulated in a MATLAB environment. Namely, four different paths are simulated as a strategy for overcoming small obstacles. The implementation of the proposed path planning is achieved by using an Arduino script in combination with a specifically developed Android interface. Experimental tests are carried out to demonstrate the engineering feasibility and effectiveness of the proposed paths for overcoming obstacles with Cassino Hexapod III.
AB - This paper describes the Cassino Hexapod III, a hybrid omniwheeled-legged hexapod robot, which has been designed and built at LARM in Cassino. Hybrid locomotion of the robot is simulated in a MATLAB environment. Namely, four different paths are simulated as a strategy for overcoming small obstacles. The implementation of the proposed path planning is achieved by using an Arduino script in combination with a specifically developed Android interface. Experimental tests are carried out to demonstrate the engineering feasibility and effectiveness of the proposed paths for overcoming obstacles with Cassino Hexapod III.
KW - Experimental robotics
KW - Hexapod walking robots
KW - Hybrid locomotion
KW - Tests
UR - http://www.scopus.com/inward/record.url?scp=85056264676&partnerID=8YFLogxK
U2 - 10.1007/978-3-030-03320-0_31
DO - 10.1007/978-3-030-03320-0_31
M3 - Artículo
AN - SCOPUS:85056264676
SN - 2211-0984
VL - 68
SP - 286
EP - 293
JO - Mechanisms and Machine Science
JF - Mechanisms and Machine Science
ER -