%0 Journal Article
	%A Tomas Luneckas and  Dainius Udris
	%D 2013
	%J International Journal of Aerospace and Mechanical Engineering
	%B World Academy of Science, Engineering and Technology
	%I Open Science Index 73, 2013
	%T Terrain Evaluation Method for Hexapod Robot
	%U https://publications.waset.org/pdf/14839
	%V 73
	%X In this paper a simple terrain evaluation method for
hexapod robot is introduced. This method is based on feet coordinate
evaluation when all are on the ground. Depending on the feet
coordinate differences the local terrain evaluation is possible. Terrain
evaluation is necessary for right gait selection and/or body position
correction. For terrain roughness evaluation three planes are plotted:
two of them as definition points use opposite feet coordinates, third
coincides with the robot body plane. The leaning angle of body plane
is evaluated measuring gravity force using three-axis accelerometer.
Terrain roughness evaluation method is based on angle estimation
between normal vectors of these planes. Aim of this work is to
present a simple method for embedded robot controller, allowing to
find the best further movement settings.
	%P 57 - 60