TY - JOUR
T1 - Hexapod walking robot CG analytical evaluation
AU - Sandoval-Castro, X. Yamile
AU - Castillo-Castaneda, Eduardo
AU - Lozano-Guzman, Alejandro A.
N1 - Publisher Copyright:
© Springer International Publishing Switzerland 2014.
PY - 2014
Y1 - 2014
N2 - A methodology for calculating a hexapod robot CG is presented. The CG coordinates related to a global reference frame are obtained as a function of the angular position of the joints and the thorax orientation. The equations presented were validated using a CAD software. Using the Normalized Energy Stability Margin (SNE) criterion the robot stability was analyzed simulating the robot CG position on an inclined plane.
AB - A methodology for calculating a hexapod robot CG is presented. The CG coordinates related to a global reference frame are obtained as a function of the angular position of the joints and the thorax orientation. The equations presented were validated using a CAD software. Using the Normalized Energy Stability Margin (SNE) criterion the robot stability was analyzed simulating the robot CG position on an inclined plane.
KW - Center of gravity
KW - Hexapod walking robot
KW - Recovery strategy
KW - Stability
UR - http://www.scopus.com/inward/record.url?scp=84911874805&partnerID=8YFLogxK
U2 - 10.1007/978-3-319-13966-1_31
DO - 10.1007/978-3-319-13966-1_31
M3 - Artículo
AN - SCOPUS:84911874805
SN - 0302-9743
VL - 8917
SP - 309
EP - 319
JO - Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
JF - Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
ER -