Authors:
Santiago Noriega Álvarez
;
María Camila Rojas
and
Hernando Leon-Rodriguez
Affiliation:
Electronic Department, Faculty of Engineering, El Bosque University, Bogota and Colombia
Keyword(s):
Robot’s Simulation, Spider Motion, Quadruped Robots.
Related
Ontology
Subjects/Areas/Topics:
Informatics in Control, Automation and Robotics
;
Robot Design, Development and Control
;
Robotics and Automation
;
Surveillance
Abstract:
The spiders, in comparison with the majority of others animals, it has the ability to access all kind of environment where others animals or even the humans can’t. Those attributes of the spiders are taken into this project in order to design and develop a quadruped spider robot with the ability to move in all kind of directions and perform pre-set motions programs such as ascend, descend, obstacles avoiding and gas detections. The paper is presented the dynamic and kinematics model with the purpose of understand how, mathematically the quadruped animal and spiders walk. In this sense we studied the movement of a real spider in order to define a suitable bio-mimetic locomotion model. In additions walking simulations were implemented and the gas detection results are presented.