Manipulability and Kinematic Dependences of a Leg of the Six-Legged Robot

Kinematic capabilities of the legs are a determinant in overcoming and avoiding different types of obstacles by walking robots. The kinematics of a leg of the Six-Legged Robot is considered. The Jacobian matrix and the coefficients of manipulability in working space are used in the analysis. A model of the leg is developed and numerical experiments are conducted. The results for movement of the leg on a typical trajectory are presented graphically. The trajectory is studied as consisting of two components - weight-bearing and free, which require different kinematic properties. The methods for increasing manipulability and its application as means of intelligent movement in avoiding obstacles are discussed.