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

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

Carbone Giuseppe;
2019

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
File in questo prodotto:
Non ci sono file associati a questo prodotto.

I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.

Utilizza questo identificativo per citare o creare un link a questo documento: http://hdl.handle.net/20.500.11770/302329
 Attenzione

Attenzione! I dati visualizzati non sono stati sottoposti a validazione da parte dell'ateneo

Citazioni
  • ???jsp.display-item.citation.pmc??? ND
  • Scopus 2
  • ???jsp.display-item.citation.isi??? ND
social impact