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Kinematic Walking Machine Essay

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CHAPTER:-1 INTRODUTION
The study of our project gives the introduction of a kinematic walking machine with some different kind of leg structure or we can say that with some new leg structure. Walking machines are one kind of robots. These robots are mainly used for the motion and translocation of the legs which is quiet easy and simple. The structure design of this kind of robots puts a great contribution to the environment. Walking stability of this robot on complex and nasty non-structure environment is superb. Here, the human activities are need to be replaced by these kind of walking machines. This design shows a valuable way in walking machines and walking mechanism.
There are broad applications …show more content…

A three revolute (3R) Kinematic chain has been chosen for each leg mechanism in order to mimic the leg structure of an insect.
Denavit-Hartenberg (D-H) conventions are used to perform kinematic analysis of the six legged robot.

Insects are chosen as models because their nervous system are simpler than other animal species. Also, complex behaviors can be attributed to just a few neurons and the pathway between sensory input and motor output is relatively shorter. Insects ' walking behavior and neural architecture are used to improve robot locomotion. Conversely, biologist can use hexapod robots for testing different hypothec.

Insect gaits are usually obtained by two approaches: the centralized and the decentralized control architectures. Centralized controllers directly specify transitions of all legs, whereas in decentralized architectures, six nodes (legs) are connected in a parallel network; gaits arise by the interaction between neighboring legs uses.
Biologically inspired hexapod robots largely depend on the insect species used as a model. The spider and the stick insect are the two most commonly used insect species; both have been ethologically and neuro-physiologically extensively studied. At present no complete neuro-system is known, therefore, models usually combine different insect models, including those of other

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