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A Dynamic Control Scheme With Differential Foot Placement For A Hexapod Robot

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Sander Gino Idelson
2K views8 pages
In this paper, a new dynamic walking scheme is developed for a 3 degree of freedom hexapod robot. The method uses dynamic differential motion, inverse kinematics, a special z- sub-stepping function and current sensing to walk dynamically.

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A Dynamic Control Scheme with Differential Foot Placement for a Hexapod Robot

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2K views8 pages

A Dynamic Control Scheme With Differential Foot Placement For A Hexapod Robot

Uploaded by

Sander Gino Idelson
In this paper, a new dynamic walking scheme is developed for a 3 degree of freedom hexapod robot. The method uses dynamic differential motion, inverse kinematics, a special z- sub-stepping f…
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