Professor of School of Engineering, Design and Built Environment, Western Sydney University, Australia. His research interests cover Industry 4.0, Additive Manufacturing, Advanced Engineering Materials and Structures (Metals and Composites), Multi-scale Modelling of Materials and Structures, Metal Forming and Metal Surface Treatment.
2024-04-30
2024-02-24
2024-01-04
Manuscript received January 16, 2023; revised March 28, 2023; accepted May 25, 2023; published February 6, 2024.
Abstract—Nowadays, robots are applied in many fields which means flexibility in robot movement is always in high demand. A walking robot is a form of a mobile robot that is gentle to the environment, and it is possible to move through various settings while selecting landing points. In this study, a systematic approach for dealing with a controlling algorithm is proposed for the six-legged walking robot. A mathematical model is applied for studying the kinematics and gaits of the six-legged robots based on parallel and serial kinematic mechanism theory. The kinematic analysis is based on classical kinematic theory, which uses a formulation that is helpful in computer algorithms. The experiment results show that the effectiveness of robot design and control algorithms are responsive to different movements. Keywords—legged robot, hexapods, six-legged robot, kinematics, gait Cite: Tran Tuyet Quyen, Nguyen Minh Trieu, and Nguyen Truong Thinh, "Kinematic Analysis of Six-Legged Robot," International Journal of Mechanical Engineering and Robotics Research, Vol. 13, No. 1, pp. 99-104, 2024. Copyright © 2024 by the authors. This is an open access article distributed under the Creative Commons Attribution License (CC BY-NC-ND 4.0), which permits use, distribution and reproduction in any medium, provided that the article is properly cited, the use is non-commercial and no modifications or adaptations are made.
