Geometry, Kinematics and Dynamics of Six-Legged Miliwalking Machine (Hermes II) Combine With Minimanipulator

摘要

HERMES is a six-legged miliwalking robot, which incorporates high powered processing, rich sensing and high mobility into a compact body. Walking with six of two degrees of freedom legs HERMES easily scrambles over rough terrain. Basing on ISR's experience prototyping rovers for planetary missions, HERMES was designed to be small, rugged and powerful robotic exploring tool.