Shilin ZHANG, Binbin ZAHNG. Adhesion and Locomotion Control of a Hexapod Rover in Low Gravity Environment[J]. AEROSPACE SHANGHAI, 2024, 41(5): 136

Search by keywords or author
- AEROSPACE SHANGHAI
- Vol. 41, Issue 5, 136 (2024)

Fig. 1. The hexapod rover

Fig. 2. Force decomposition for a supporting leg of the hexapod rover

Fig. 3. Static friction force and supporting force

Fig. 4. Three-legged gait phase sequence

Fig. 5. Trajectory curve of the foot

Fig. 6. Terminal gait offset and offset vector

Fig. 7. Framework of the simulated experiment

Fig. 8. Locomotion of the hexapod rover

Fig. 9. Trajectory of the mass center

Fig. 10. Stability margin deviation

Fig. 11. Force distribution at the foot

Fig. 12. Acceleration of the foot
|
Table 1. Physical parameters of the leg
|
Table 2. Dynamical parameters of the leg
|
Table 3. Joint parameters of the leg
|
Table 4. Parameters of the simulation environment
|
Table 5. Macroscopic statistical quantities of the foot forces
|
Table 6. Threshold of the static friction force

Set citation alerts for the article
Please enter your email address