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Comparison between different model of hexapod robot in fault-tolerant gait

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2 Author(s)
Chu, S.K.-K. ; Dept. of Electr. & Electron. Eng., Hong Kong Univ., China ; Pang, G.K.-H.

This paper presents a gait analysis of the equilateral hexagonal model of hexapod robot. Mathematical analysis has been made on mobility, fault-tolerance, and stability. A comparison with the rectangular model of hexapod robot is also given, and it has shown that the hexagonal model shows better turning ability, a higher margin of stability during the fault-tolerant gait, and greater stride length in certain conditions.

Published in:

Systems, Man and Cybernetics, Part A: Systems and Humans, IEEE Transactions on  (Volume:32 ,  Issue: 6 )