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Article: Comparison between different model of hexapod robot in fault-tolerant gait

TitleComparison between different model of hexapod robot in fault-tolerant gait
Authors
Chu, SKKPang, GKH
KeywordsHexagonal model
Hexapod robot
Rectangular model
Stability margin
Issue Date2002
PublisherIEEE.
Citation
Ieee Transactions On Systems, Man, And Cybernetics Part A:Systems And Humans., 2002, v. 32 n. 6, p. 752-756 How to Cite?
DOI: http://dx.doi.org/10.1109/TSMCA.2002.807066
AbstractThis paper presents a gait analysis of the equilateral hexagonal model of hexapod robot. Mathematical analysis has been made on mobility, fault-tolerance, and stability. A comparison with the rectangular model of hexapod robot is also given, and it has shown that the hexagonal model shows better turning ability, a higher margin of stability during the fault-tolerant gait, and greater stride length in certain conditions.
Persistent Identifierhttp://hdl.handle.net/10722/42946
ISSN
1083-4427
2012 Impact Factor: 2.183
2020 SCImago Journal Rankings: 1.776
ISI Accession Number ID
WOS:000180904400011
References
References in Scopus

 

DC FieldValueLanguage
dc.contributor.authorChu, SKKen_HK
dc.contributor.authorPang, GKHen_HK
dc.date.accessioned2007-03-23T04:35:15Z-
dc.date.available2007-03-23T04:35:15Z-
dc.date.issued2002en_HK
dc.identifier.citationIeee Transactions On Systems, Man, And Cybernetics Part A:Systems And Humans., 2002, v. 32 n. 6, p. 752-756en_HK
dc.identifier.issn1083-4427en_HK
dc.identifier.urihttp://hdl.handle.net/10722/42946-
dc.description.abstractThis paper presents a gait analysis of the equilateral hexagonal model of hexapod robot. Mathematical analysis has been made on mobility, fault-tolerance, and stability. A comparison with the rectangular model of hexapod robot is also given, and it has shown that the hexagonal model shows better turning ability, a higher margin of stability during the fault-tolerant gait, and greater stride length in certain conditions.en_HK
dc.format.extent353706 bytes-
dc.format.extent28160 bytes-
dc.format.extent961133 bytes-
dc.format.mimetypeapplication/pdf-
dc.format.mimetypeapplication/msword-
dc.format.mimetypeapplication/pdf-
dc.languageengen_HK
dc.publisherIEEE.en_HK
dc.relation.ispartofIEEE Transactions on Systems, Man, and Cybernetics Part A:Systems and Humans.en_HK
dc.rights©2002 IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE.-
dc.subjectHexagonal modelen_HK
dc.subjectHexapod roboten_HK
dc.subjectRectangular modelen_HK
dc.subjectStability marginen_HK
dc.titleComparison between different model of hexapod robot in fault-tolerant gaiten_HK
dc.typeArticleen_HK
dc.identifier.openurlhttp://library.hku.hk:4550/resserv?sid=HKU:IR&issn=1083-4427&volume=32&issue=6&spage=752&epage=756&date=2002&atitle=Comparison+between+different+model+of+hexapod+robot+in+fault-tolerant+gaiten_HK
dc.identifier.emailPang, GKH:gpang@eee.hku.hken_HK
dc.identifier.authorityPang, GKH=rp00162en_HK
dc.description.naturepublished_or_final_versionen_HK
dc.identifier.doi10.1109/TSMCA.2002.807066en_HK
dc.identifier.scopuseid_2-s2.0-0036881068en_HK
dc.identifier.hkuros82670-
dc.relation.referenceshttp://www.scopus.com/mlt/select.url?eid=2-s2.0-0036881068&selection=ref&src=s&origin=recordpageen_HK
dc.identifier.volume32en_HK
dc.identifier.issue6en_HK
dc.identifier.spage752en_HK
dc.identifier.epage756en_HK
dc.identifier.isiWOS:000180904400011-
dc.publisher.placeUnited Statesen_HK
dc.identifier.scopusauthoridChu, SKK=7403622204en_HK
dc.identifier.scopusauthoridPang, GKH=7103393283en_HK
dc.identifier.issnl1083-4427-

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