Kinematic analysis for trajectory generation in one leg of a hexapod robot

Abstract

The legs movement of a walking robot has been widely studied to solve mobility problems on such robots. These studies mainly analyze the movement performed by certain animals like mammals, insects, or reptiles, that later will be mimicked by mechanical systems. In the present work, a kinematic analysis of a single leg of a hexapod robot is introduced and the trajectory generation is implemented. To evaluate the leg movement performance, a simulator was developed in order to analyze the trajectory. © 2012 Published by Elsevier Ltd.