Publication Details

Design of Omni-directional Hexapod Robot with Horizontal Coxa Joint

ŽÁK Marek, ROZMAN Jaroslav and ZBOŘIL František V.. 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, pp. 119-123. ISBN 978-1-7281-3179-5.
Czech title
Návrh všesměrového šestinohého robota s horizontálním stehenním kloubem
Type
conference paper
Language
english
Authors
Žák Marek, Ing. (DITS FIT BUT)
Rozman Jaroslav, Ing., Ph.D. (DITS FIT BUT)
Zbořil František V., doc. Ing., CSc. (DITS FIT BUT)
Keywords

Hexapod Control, Movement Controller, Horizontal Coxa Joint

Abstract

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.

Published
2019
Pages
119-123
Proceedings
INFORMATICS 2019 - IEEE 15th International Scientific Conference on Informatics, Proceedings
Conference
2019 IEEE 15th International Scientific Conference on Informatics, Poprad, SK
ISBN
978-1-7281-3179-5
Publisher
Faculty of Electrical Engineering and Informatics, University of Technology Košice
Place
Poprad, SK
DOI
10.1109/Informatics47936.2019.9119326
UT WoS
000610452900019
EID Scopus
2-s2.0-85087641917
BibTeX 
@INPROCEEDINGS{FITPUB11986,
   author = "Marek \v{Z}\'{a}k and Jaroslav Rozman and V. Franti\v{s}ek Zbo\v{r}il",
   title = "Design of Omni-directional Hexapod Robot with Horizontal Coxa Joint",
   pages = "119--123",
   booktitle = "INFORMATICS 2019 - IEEE 15th International Scientific Conference on Informatics, Proceedings",
   year = 2019,
   location = "Poprad, SK",
   publisher = "Faculty of Electrical Engineering and Informatics, University of Technology Ko\v{s}ice",
   ISBN = "978-1-7281-3179-5",
   doi = "10.1109/Informatics47936.2019.9119326",
   language = "english",
   url = "https://www.fit.vut.cz/research/publication/11986"
}
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