{"title":"简化控制体系的六足机器人的设计与开发","authors":"S. M. Mannan, Y. Ayaz, Saeed-ur-Rehman, S. Farrah","doi":"10.1109/ICEE.2007.4287297","DOIUrl":null,"url":null,"abstract":"A six-legged robot named 'Mechatron-1' has been developed. This paper contains a description of the design and working of the robot. A thorough study of its leg motion has been done in order to perform a stability analysis based upon the minimum longitudinal stability margin criteria. The main emphasis in the robot's structural design was to reduce the controller complexity required for proper operation. Mechatron-1 is a wave gait robot designed for general applications in everyday human environment.","PeriodicalId":291800,"journal":{"name":"2007 International Conference on Electrical Engineering","volume":"131 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2007-04-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"Design and Development of a Six-Legged Robot with Simplified Control Architecture\",\"authors\":\"S. M. Mannan, Y. Ayaz, Saeed-ur-Rehman, S. Farrah\",\"doi\":\"10.1109/ICEE.2007.4287297\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"A six-legged robot named 'Mechatron-1' has been developed. This paper contains a description of the design and working of the robot. A thorough study of its leg motion has been done in order to perform a stability analysis based upon the minimum longitudinal stability margin criteria. The main emphasis in the robot's structural design was to reduce the controller complexity required for proper operation. Mechatron-1 is a wave gait robot designed for general applications in everyday human environment.\",\"PeriodicalId\":291800,\"journal\":{\"name\":\"2007 International Conference on Electrical Engineering\",\"volume\":\"131 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2007-04-11\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2007 International Conference on Electrical Engineering\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/ICEE.2007.4287297\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2007 International Conference on Electrical Engineering","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ICEE.2007.4287297","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Design and Development of a Six-Legged Robot with Simplified Control Architecture
A six-legged robot named 'Mechatron-1' has been developed. This paper contains a description of the design and working of the robot. A thorough study of its leg motion has been done in order to perform a stability analysis based upon the minimum longitudinal stability margin criteria. The main emphasis in the robot's structural design was to reduce the controller complexity required for proper operation. Mechatron-1 is a wave gait robot designed for general applications in everyday human environment.
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