This paper describes a hybrid omniwheeled-legged hexapod robot, named as Cassino Hexapod III, which has been designed and built at LARM in Cassino. Direct and inverse kinematics are outlined and implemented in a proper Arduino code for achieving a user interface with an Android application, which can manage robot operation in a simple user-friendly manner. Laboratory experiences have been carried out to demonstrate the suitable operation modes of Cassino Hexapod III in terms of wheeled and legged gaits. Specific attention is addressed to the use of omniwheels for achieving complex turning paths. © Springer Nature Switzerland AG 2019.

Experiences for a user-friendly operation of Cassino Hexapod III

Carbone Giuseppe
2019

Abstract

This paper describes a hybrid omniwheeled-legged hexapod robot, named as Cassino Hexapod III, which has been designed and built at LARM in Cassino. Direct and inverse kinematics are outlined and implemented in a proper Arduino code for achieving a user interface with an Android application, which can manage robot operation in a simple user-friendly manner. Laboratory experiences have been carried out to demonstrate the suitable operation modes of Cassino Hexapod III in terms of wheeled and legged gaits. Specific attention is addressed to the use of omniwheels for achieving complex turning paths. © Springer Nature Switzerland AG 2019.
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Utilizza questo identificativo per citare o creare un link a questo documento: http://hdl.handle.net/20.500.11770/302355
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