Experiences on a hybrid locomotion approach to overcome obstacles with Cassino Hexapod III

Orozco Magdaleno, E C; Carbone, Giuseppe; Castillo Castañeda, E

doi:10.1007/978-3-030-03320-0_31

This paper describes the Cassino Hexapod III, a hybrid omniwheeled-legged hexapod robot, which has been designed and built at LARM in Cassino. Hybrid locomotion of the robot is simulated in a MATLAB environment. Namely, four different paths are simulated as a strategy for overcoming small obstacles. The implementation of the proposed path planning is achieved by using an Arduino script in combination with a specifically developed Android interface. Experimental tests are carried out to demonstrate the engineering feasibility and effectiveness of the proposed paths for overcoming obstacles with Cassino Hexapod III. © Springer Nature Switzerland AG 2019

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Titolo:	Experiences on a hybrid locomotion approach to overcome obstacles with Cassino Hexapod III
Autori:	Orozco Magdaleno, E C CARBONE, Giuseppe Castillo Castañeda, E mostra contributor esterni nascondi contributor esterni
Data di pubblicazione:	2019
Serie:	MECHANISMS AND MACHINE SCIENCE
Abstract:	This paper describes the Cassino Hexapod III, a hybrid omniwheeled-legged hexapod robot, which has been designed and built at LARM in Cassino. Hybrid locomotion of the robot is simulated in a MATLAB environment. Namely, four different paths are simulated as a strategy for overcoming small obstacles. The implementation of the proposed path planning is achieved by using an Arduino script in combination with a specifically developed Android interface. Experimental tests are carried out to demonstrate the engineering feasibility and effectiveness of the proposed paths for overcoming obstacles with Cassino Hexapod III. © Springer Nature Switzerland AG 2019
Handle:	http://hdl.handle.net/20.500.11770/302329
Appare nelle tipologie:	2.1 Contributo in volume (Capitolo o Saggio)

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http://hdl.handle.net/20.500.11770/302329

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