Modelo Cinemático para Atuação Completa de Robôs Hexápodes

Abstract

This paper explores the kinematics control of the body center and legs trajectory in Myrmex, a hexapod robot that has a statically stable gait. We formulate a model for the kinematics control of the robot body center as a function of actuated joint angles. We show that there is a Jacobian matrix for the robot whole-body control, which is well defined when three or more legs are in contact with the ground. This model allows to explore the involvement of the whole-body during the gait cycle, as well as identify actuation restrictions and increase the working space.