Hexapod robot. Virtual models for preliminary studies

摘要

The authors presents a software platform for controlling a virtual hexapod robot made using Matlab. The interface allows full control of the hexapod robot and single leg control. The main purpose of the interface is to simulate hexapod robot stability in gravitational field for a certain configuration of legs. The model of the robot and the leg were developed using geometrical modeling based on Denavit-Hartenberg algorithm. The analysis of robot stability is made for different stages of locomotion on horizontal surface and for different leg configurations.