Hexapod Walking Robot CG Analytical Evaluation

摘要

A methodology for calculating a hexapod robot CG is presented. The CG coordinates related to a global reference frame are obtained as a function of the angular position of the joints and the thorax orientation. The equations presented were validated using a CAD software. Using the Normalized Energy Stability Margin (SNE) criterion the robot stability was analyzed simulating the robot CG position on an inclined plane.