A 3D
Simulator modelling for Hydraulic-drive Hexapod walking
Robot using 3D Geometric Technique with distributed
Numerical Model
H.
Ohroku1,
A. Irawan2,
K. Nonami3
Graduate School of Science and
Technology, Chiba
University, 1-33
Yayoi-cho, Inage-ku, Chiba-shi, Chiba, 263-8522, Japan
Abstract
This article will describe the proposed method of 3D
geometric combination with the designed numerical model
distributed data. On the other hand this method is
applied with the body movement coordination method (BMC)
which is designed based on the centre of the body of the
robot and shoulder of each leg point. The 3D model is
designed for hydraulic-based drive hexapod walking robot
which is critically to be experimented directly without
any strong pre-study. Moreover the force-based
controlled walking is the current research for this
hydraulic-drive robot current version namely as
COMET-IV. Therefore in this article, the discussion will
be on the 3D geometric modelling with the force-based
controlled numerical model that design with BMC
technique. Simple walking experiment has been done to
verify this simulator and the results are nearly same as
simulated.
Keywords: 3D Geometric Model, Force-based
Walking, Legged Robot, Body Movement Coordination.
(
Full
Paper, 3 MB), (Project
outline 0.7 MB)
@ARTICLE{P1130940886,
AUTHOR = {H.
Ohroku and
A. Irawan
and
K. Nonami},
TITLE = {A 3D Simulator
modelling for Hydraulic-drive Hexapod walking Robot
using 3D Geometric Technique with distributed Numerical
Model},
JOURNAL = {ICGST International Journal on Automation, Robotics and Autonomous Systems},
YEAR = {2009},
VOLUME = {09},
ISSUE={I},
PAGES={31--39}
}
(Full
Paper, 3 MB), (Project
outline 0.7 MB)
