Differential drive in GROVEN hexapods - theoretical and experimental study of efficiency

摘要

Mechanics and control system of family of six-legged walking machines GROVEN (I,II,IlI,IV) has been developed by Growth Venture -Singapore. In this machine the novel leg design was applied (1). Elaborated by author control system allowed analyse of GROVENS' motion properties and therefore it was possible to confirm assumptions done in the design phase. In this paper discussion of selected design problems in relation to the features of real device is given.