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- W4360996934 abstract "Hybrid-driven linkage mechanism has been applied to the leg design of multi-legged robots. However, in the existing research, the mechanism only adjusts the foot trajectory through reconstruction, and the essence is still single-degree-of-freedom walking, with limited capacity and low efficiency. Aiming at the hexapod mobile platform based on hybrid-driven mechanism, this paper analyzes the reason why the hexapod platform cannot climb the step when the crank is single driven. After that, the article builds the inverse kinematics model of the leg through the bilateration matrix equation, analyzes the multi-solution problem in the solution, and finally realizes the established trajectory in the foot workspace through the dual-degree-of-freedom coupling drive, and drives the hexapod platform to climb the steps. Through this method, the hybrid-driven mechanism can no longer be limited to the fixed trajectory walking, and the capacity is improved." @default.
- W4360996934 created "2023-03-30" @default.
- W4360996934 creator A5065256978 @default.
- W4360996934 creator A5076762229 @default.
- W4360996934 date "2022-10-01" @default.
- W4360996934 modified "2023-10-16" @default.
- W4360996934 title "Research and passing ability optimization of hybrid-driven connecting rod leg based on jansen mechanism" @default.
- W4360996934 doi "https://doi.org/10.1109/aiam57466.2022.00146" @default.
- W4360996934 hasPublicationYear "2022" @default.
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