Estrategias de adaptabilidad estáticamente estables al cambio de terreno para un robot caminante de seis extremidades

This article describes the forward and inverse kinematic model of position of the Hex-piderix robot, taking on account current attitude. Also three strategies to get terrain adaptability to the robot, guaranty statically stability are presented: constant orientation of the thorax, geometric strategy and emergency strategy. The designing of the adaptability strategies are considered geometric parameters and the weight of each of its components; both direct and inverse kinematics in position is essential for the robot could redirect. Statically stable is evaluated by using Normalized Energy Stability Margin. Adaptability strategies were simulated in MatLab and experimentally validated by using LabView.