SHeRo: Scalable hexapod robot for maintenance, repair, and operations
SHeRo is a scalable hexapod robot for remote maintenance, repair and operations. Scalable hexapod robots provide high maneuverability over irregular terrain. The Foot Force Stability Margin is used to determine system stability in real-time. Robot stability and workspace are integrated to find the stable workspace. The advantages of a scalable design were demonstrated in simulation and experiments.
scalable hexapod robot stability workspace control architecture