Science – Future of Lithuania / Mokslas – Lietuvos Ateitis, Vol 5, No 2 (2013)

Control of the Hexapod Walking Robot

Raimondas Zubavičius
Nerijus Paulauskas
Martynas Šapurov


The analysis focuses on control features of the hexapod walking robot with three degree-of-freedom legs. This paper describes different servo control methods and presents the developed algorithm for formation of servos control signals. The geometric inverse kinematics method was used to calculate the angles of each joint of a leg. The authors present the results of the experimental investigation on the hexapod robot leg movement trajectory.

Article in Lithuanian

Article in: Lithuanian

Article published: 2013-05-24

Keyword(s): hexapod robot; inverse kinematics; servo

DOI: 10.3846/mla.2013.17

Full Text: PDF pdf

Science – Future of Lithuania / Mokslas – Lietuvos Ateitis ISSN 2029-2341, eISSN 2029-2252
This work is licensed under a Creative Commons Attribution-NonCommercial 4.0 License.