Journal of Applied Sciences ›› 2005, Vol. 23 ›› Issue (6): 645-647.

• Articles • Previous Articles     Next Articles

Safety Analysis of a Six-Legged Robot Moving on a Spherical Surface

TAN Shi-li, SU Jian-liang, SHEN Li-hong, WANG Yang-ming   

  1. School of Mechanical and Electronic Engineering and Automation, Shanghai University, Shanghai 200072, China
  • Received:2004-07-28 Revised:2005-11-03 Online:2005-11-30 Published:2005-11-30

Abstract: This paper presents an analysis of a six-legged climbing robot moving on a spherical surface.Antisliding and anti-turning over conditions are obtained, which are helpful for both gait-planning of this robot and safety analysis of other multi-legged robots.

Key words: six-legged mobile robot on spherical surface, anti-sliding, anti-turning over

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