Abstract
ABSTRACTAlthough legged robots are considered as the most versatile type of robot due to their major capability of moving on uneven terrain, the robots which have been studied do not have much mobility. In general, this lack of mobility is related to the high number of degrees of freedom that makes it difficult to solve their mathematical model and to apply it to the control system. This problem gives them a low operational speed. It was not possible to solve this problem on mobile robots whose legs are based on parallel structures either. One alternative is to use simpler mechanisms, obtaining a small number of degrees of freedom for the legs. The solution that is analyzed in this article uses Bennett's linkage for a six legged robot. From the kinematic analysis of each leg, the robot motion is analyzed for two kinds of movements: the tripod type and the tetrapod type. In the present work, the kinematic analysis of the robot's behavior is examined in order to know in advance what can occur to the robot when it walks. After the analysis, some studies to make the robot able to move smoothly are proposed, even considering its dynamics.
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