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Start Over Author "Pang, Grantham Kwok-Hung" Publisher institute of electrical and electronics engineers, inc.
1 results on '"Pang, Grantham Kwok-Hung"'

1. Comparison between different model of hexapod rabot in fault-tolerant gait

Author

Chu, Stanley Kwok-Kei and Pang, Grantham Kwok-Hung

Subjects
Robot, Robots -- Design and construction, Robots -- Research
Abstract

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. Index terms--Hexagonal model, hexapod robot, rectangular model, stability margin.

Published
2002

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