Stair Climbing Capability-Based Dimensional Synthesis for the Multi-legged Robot
Huayang Li Chenkun Qi Xianbao Chen Liheng Mao Yue Zhao Feng Gao Huayang Li Chenkun Qi Xianbao Chen Liheng Mao Yue Zhao Feng Gao
Staircase is a typical obstacle for the legged robot to overcome in buildings. This paper studies the stair climbing capability-based dimensional synthesis for a hexapod legged robot, i.e., exploring how to determine the leg length and the longitudinal body length concerning the target staircase in the mechanical design stage. In climbing a staircase, leg-staircase interference is one of the predo...