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In this paper the authors presents a software platform for controlling a virtual hexapod robot made using Matlab. The interface allows full control of the hexapod robot, hardware and software single leg control and locomotion control over obstacles. The main purpose of the interface is to simulate hexapod robot locomotion over common obstacles types. The(More)
In this paper the authors present a robot leg used to form a hexapod mobile robot structure. For the leg in question were derived the direct kinematics, inverse kinematics and dynamic model. The dynamic model was implemented using SimMechanics toolbox from Matlab. The trajectory for the leg tip was implemented using piecewise cubic spline interpolation(More)
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