| dc.contributor.author | Skaburskytė, Aistė | |
| dc.contributor.author | Luneckas, Mindaugas | |
| dc.contributor.author | Luneckas, Tomas | |
| dc.contributor.author | Kriaučiūnas, Jonas | |
| dc.contributor.author | Udris, Dainius | |
| dc.date.accessioned | 2023-09-18T16:52:39Z | |
| dc.date.available | 2023-09-18T16:52:39Z | |
| dc.date.issued | 2016 | |
| dc.identifier.other | (BIS)VGT02-000033409 | |
| dc.identifier.uri | https://etalpykla.vilniustech.lt/handle/123456789/117445 | |
| dc.description.abstract | Environmental adaptability, terrain locomotion is what makes walking robots so appealing. Due to a high number of degrees of freedom walking machines tend to be more useful in dangerous or impassible environments. Multi-legged robots have better stability while walking because there are always at least three legs supporting the robot. But having six or more legs also means that choosing or developing most suitable walking patterns is very challenging. In this paper we present a stability investigation of different hexapod robot gaits. Stability of gaits is measured by body tilt during movement. Three different gaits are used: tripod gait, wave gait, and ripple gait. Comparison of each gaits stability with various leg transfer sequences is given. Results show that the most stable gait is wave with the basic leg transfer sequence. | eng |
| dc.format | PDF | |
| dc.format.extent | p. 1-4 | |
| dc.format.medium | tekstas / txt | |
| dc.language.iso | eng | |
| dc.relation.isreferencedby | Conference Proceedings Citation Index - Science (Web of Science) | |
| dc.relation.isreferencedby | IEEE Xplore | |
| dc.source.uri | http://ieeexplore.ieee.org/document/7821803/ | |
| dc.subject | MC02 - Elektros ir elektroniniai įrenginiai bei sistemos / Electrical and electronic devices and systems | |
| dc.title | Hexapod robot gait stability investigation | |
| dc.type | Straipsnis konferencijos darbų leidinyje Web of Science DB / Paper in conference publication in Web of Science DB | |
| dcterms.accessRights | Organized by: Vilnius Gediminas Technical University, Riga Technical University, IEEE Latvia Section | |
| dcterms.references | 12 | |
| dc.type.pubtype | P1a - Straipsnis konferencijos darbų leidinyje Web of Science DB / Article in conference proceedings Web of Science DB | |
| dc.contributor.institution | Vilniaus Gedimino technikos universitetas | |
| dc.contributor.faculty | Elektronikos fakultetas / Faculty of Electronics | |
| dc.subject.researchfield | T 001 - Elektros ir elektronikos inžinerija / Electrical and electronic engineering | |
| dc.subject.ltspecializations | L104 - Nauji gamybos procesai, medžiagos ir technologijos / New production processes, materials and technologies | |
| dc.subject.en | hexapod robot | |
| dc.subject.en | Walking stability | |
| dc.subject.en | accelerometer | |
| dc.subject.en | wave gait | |
| dc.subject.en | tripod gait | |
| dc.subject.en | ripple gait | |
| dcterms.sourcetitle | AIEEE’2016 : 2016 IEEE 4th workshop on Advances in Information, Electronic and Electrical Engineering (AIEEE) : proceedings of the 4th IEEE workshop, November 10–12, 2016 Vilnius, Lithuania / Edited by: Dalius Navakauskas, Andrejs Romanovs, Darius Plonis | |
| dc.publisher.name | IEEE | |
| dc.publisher.city | Washington | |
| dc.identifier.doi | 000393578900003 | |
| dc.identifier.doi | 9781509044740 | |
| dc.identifier.doi | 10.1109/AIEEE.2016.7821803 | |
| dc.identifier.elaba | 20278156 | |
