Hexapod Robot Research Papers - Academia.edu (original) (raw)

Penelitian ini membahas tentang bagaimana model sistem kontrol hexapod
robot menggunakan mikrokontroler ATMega 128. Hexapod robot yang digunakan sebagai
objek dalam penelitian ini adalah kit MSR-H01. Kit hexapod robot ini dilengkapi dengan
sistem pBrain yang mengontrol setiap pergerakan mekaniknya. Komunikasi data antara
mikrokontroler AVR ATMega 128 dengan pBrain menggunakan komunikasi serial RS 232.
Hexapod robot pada penelitian ini dilengkapi dengan sensor ultrasonik untuk mengetahui
kondisi lingkungan dan obstacle di sekitar robot. Selain itu ultrasonik juga menjadi input
ATMega 128 untuk menentukan perintah gerak yang dikirimkan ke pBrain. Untuk
menentukan gerakan mekanik, mode yang digunakan simkontrol pada pBrain adalah mode
offroad. Hasil ujicoba yang telah dilakukan menunjukkan bahwa mode offroad dapat
digunakan robot untuk berjalan di track datar, berkarpet maupun track bergelombang
dengan kecepatan maksimal 7 s/m pada track datar.

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- Ultrasonics, Hexapod Robot, AVR Microcontroller Programming, Mikrokontroler
- by H Masum Billah
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- Engineering, Hexapod Robot

El objetivo del siguiente documento es presentar un análisis cinemático de un robot hexápodo con el propósito de determinar su espacio de trabajo, contemplando sus restricciones articulares. Para ello se utilizarán simuladores, como el CodeWarrior y el MATLAB, que permiten operar realizar cálculos rápidamente y observar lo propuesto. Para ello, se han analizado las extremidades del robot como una cadena cinemática abierta con 3 grados de libertad cada una.
Para hacer un estudio más detallado del mismo se evidencia el método de cálculo de la cinemática inversa y del algoritmo de marcha del robot en su totalidad.

- by Emiliano Javier Borghi Orué
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- Robotics, Matlab, DSP, Kinematics

Nowadays many robotic systems are developed with lot of innovation, seeking to get flexibility and efficiency of biological systems. Hexapod Robot is the best example for such robots, it is a six-legged robot whose walking movements try to imitate the movements of the insects, it has two sets of three legs alternatively which is used to walk, this will provide stability, flexibility and mobility to travel on irregular surfaces. With these attributes the hexapod robots can be used to explore irregular surfaces, inhospitable places, or places which are difficult for humans to access. This paper involves the development of hexapod robot with digital image processing implemented on Raspberry Pi, to study in the areas of robotic systems with legged locomotion and robotic vision. This paper is an integration of a robotic system and an embedded system of digital image processing, programmed in high level language using Python. It is equipped with a camera to capture real time video and uses a distance sensor that allow the robot to detect obstacles. The Robot is Self-Stabilizing and can detect corners. The robot has 3 degrees of freedom in each six legs thus making a 18 DOF robotic movement. The use of multiple degrees of freedom at the joints of the legs allows the legged robots to change their movement direction without slippage. Additionally, it is possible to change the height from the ground, introducing a damping and a decoupling between the terrain irregularities and the body of the robot servo motors.

- by IJRASET Publication
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- Hexapod Robot

ABSTRACT This paper presents a control strategy for improving the performance of force-based foot motion trajectory generation with optimal impedance control for a hydraulically driven hexapod robot known as COMET-IV. This technique facilitates walking/operating on extremely uneven and unstructured terrain. The trajectory module is stabilized using the derived impedance control with optimal force input. The robot’s body moment of inertia is calculated (instead of employing environmental modeling) and adapted as an impedance control input with improvement of TSK-FLC that is locally optimized via the solution of the algebraic Riccati equation of virtual robot dynamic itself. The proposed control strategy aims to generate a smooth dynamic signal in order to reduce the shaking of the robot’s foot while placing it on the ground during a walking session. The proposed control strategy is verified using an actual robot system while walking/operating on a setup consisting of an unstructured terrain and on actual extremely uneven terrain.

- by Mohd Razali Daud
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- Engineering, Dynamical Systems, Optimal Control, Hexapod Robot

Abstract This paper describes the design and development of hexapod robot with three degrees of freedom (3 DOF) at each leg. The system developed is composed of the mechanical assembly, the circuits used to control the servomotors... more

- by Wagner Correia Moraes
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- Engineering, Embedded Systems, Kinematics, Robot kinematics

The complexity of walking robots poses a number of control problems due to the large number of degrees of freedom involved in the robot's motion. This work deals with the design of a hexapod robot, whose legs have 3 rotative... more

- by Max Dutra
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- Computer Science, Motion control, Neural Networks, Fuzzy Systems

In this thesis, computer aided design of a macro-positioning robot for an hexapod is considered. The macro-positioning robot is designed to manipulate the hexapod precisely. Hexapod robots have micron-precision motion capability. On the other hand, their limited workspace is not enough for some applications. There are some solutions to extend this limited workspace. Combination of two different robots can be considered as a solution for having macro-positioning and micron precision features both in one system. These types of robot system combinations are defined as hybrid robots in the literature. In this thesis, integrated design approach is used to design, analysis and control of the macro-positioning robot. API (“application program interface”) capabilities of SolidWorks, CosmosMotion, CosmosWorks and PC-based motor control software are used to develop integrated software by VisualBASIC. After completing all the analyses, a prototype of the robot was built. This prototype consists of two axes. Most of the robot parts are manufactured except the actuators. Actuators of the robot are Harmonic Drive AC servo units. As an additional study, this thesis includes developing interface between a robotic system and a vision system.

- by Andy Zhao
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- Mechanical Engineering, Iterative Methods, Adaptive Control, Parameter estimation

El trabajo práctico analiza el comportamiento dinámico de un robot Hexápodo dividiendo el informe en dos partes principales. Primero se estudiará dinámicamente una pata usando la formulación de Lagrange-Euler, y luego, se presentará un... more

- by Emiliano Javier Borghi Orué
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- Robotics, Mobile Robotics, FPGA, Hexapod Robot

A novel method is proposed for real-time solution of direct kinematics problem of Stewart platform (SP) using six measurements on three legs’ joints consisting of the rotations of three legs in two directions. After the application of the method on a laboratory sample SP, it is observed that the method is preferable to the conventional method that uses the length measurements of all six legs, in the grounds of industrial applicability. It is due to simpler implementation, less expense, easier maintenance, and stress-free assembly. The algorithms of both forward and inverse kinematics are fully derived based on geometric relationships between the platform states and the measurement data. The sensitivity to the measurement errors is analyzed theoretically and is applied through a computer simulation to several configurations of the sample SP which are uniformly distributed in the workspace. The variances of measurement errors for those configurations are compared between the conventional and proposed methods and it is observed that: the proposed method operates more accurate in position measurement especially in lateral movements. Additionally, the proposed method is not too sensitive to direction of movement and geometry of the SP.

- by amir sayadi
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- Hexapod Robot, Stewart platform, Inverse and Forward Kinematic
- by Eren Erdal Aksoy
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- Asphalt, Support Vector Machines, Image Classification, Gait Analysis

En este artículo, se muestra el desarrollo de un robot explorador hexápodo ideado para operar dentro de zonas de cultivo y con la capacidad de capturar información visual de la zona de operación por medio de una cámara digital integrada a este.
El artículo comienza haciendo un breve análisis acerca de las características de las diversas clases de robots móviles a fin de explicar las razones que motivaron el desarrollo del robot hexápodo expuesto en el presente trabajo, tales como su mayor capacidad de desplazamiento sobre terreno irregular y la posibilidad de no arriesgar a un operador humano dentro de zonas de peligro. Posteriormente, se muestra el diseño del robot propuesto, el cual se basó en información extraída de
varias investigaciones y fundamental para el establecimiento de las características mecánicas, electrónicas y de control de movimiento del robot. El diseño de la estructura mecánica se realizó con base en el uso de software asistido por computadora (CAD), mientras que su manufactura se realizó por medio de impresión 3D. El artículo continúa mostrando el ensamblaje del robot y las pruebas de operación de este. Estas pruebas, realizadas al comienzo dentro una habitación para luego ser realizadas en terrenos, descampado y de gras, permitieron corroborar el satisfactorio funcionamiento del robot.
El artículo termina mostrando los resultados obtenidos de las pruebas
realizadas, haciendo las observaciones correspondientes a ellos y exhibiendo las conclusiones obtenidas de este trabajo.

- by Revista I+i Investigación Aplicada e Innovación and +1
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- Mobile Robotics, ROBOT, Autonomous Mobile Robots, Hexapod Robot
- by he zh
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- Robotics, Control Systems Engineering, Biomechanics, Control Systems

Problem statement: Wheeled robots are not very well suited for navigation over uneven terrains. Hexapod robots have some advantages over wheeled robots when negotiating and navigating on rugged terrain. Approach: Different gaits of hexapods can be developed for different kinds of locomotion and obstacle avoidance. Results: In this research a novel algorithm has been developed for hexapod robots navigation. Conclusion: Implementation of the developed algorithm on a hexapod prototype showed desirable ...

- by H Masum Billah
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- Engineering, Hexapod Robot
- by Handy Wicaksono
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- Mobility, Hexapod Robot, Jurnal Teknik Informatika, Jurnal Teknik Elektro
- by Siti Sendari
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- Hexapod Robot
- by Kynan Eng
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- Mechanical Engineering, Mechatronics, Robust control, Control system
- by ali moosavian
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- Motion control, Stability, Path planning, Hexapod Robot
- by Bushra Shaikh
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- Computer Science, Hexapod Robot
- by Gill Pratt
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- Actuators, Object Tracking, Hexapod Robot, Inverted Pendulum
- by Dennis Goldschmidt
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- Asphalt, Support Vector Machines, Image Classification, Gait Analysis
- by Roger Quinn
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- Mechanism Design, Control Systems, Control system, Mobile Robots
- by J C Pimenta Claro and +1
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- Motion Analysis, Geometric model, Hexapod Robot, Kinematics and Dynamics

This paper presents a leg reconfigurable technique to optimize the hexapod robot reconfiguration flexiblity. A hexapod-to-quadruped (Hexa-Quad) transformation technique is proposed to optimize hexapod legs on certain situation that need some legs to be disabled as a leg to do other tasks and operations. This proposed method used the factor of center of body (CoB) stability in the support polygon and its body shape. The reinitialized leg’s shoulder method is proposed to ensure the support polygon is balanced and confirmed the CoM nearly or at the center. This method is modeled and simulated in a real-time based model of hexapod robot with 4-DOF/leg control architecture. The model is verified in numerical model and presented using separated 3D simulators.

- by Addie Irawan
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- Robotics, Hexapod Robot, Reconfigurable Robot, Quadruped Robots
- by R Effendi
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- Mobility, Hexapod Robot, Jurnal Teknik Informatika, Jurnal Teknik Elektro
- by Gill Pratt
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- Actuators, Object Tracking, Hexapod Robot, Inverted Pendulum

Pada perkembangan teknologi dan otomasi industri saat ini banyak digunakan robot sebagai alat bantu yang dapat meringankan pekerjaan manusia, sehingga dibutuhkan robot yang memiliki sistem pengendalian yang baik agar pekerjaan yang... more

- by Iwan Krisnadi
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- Fuzzy Logic, Hexapod Robot

Kinematic motion planning using geometric mechanics tends to prescribe a trajectory in a parameterization of a shape space and determine its displacement in a position space. Often this trajectory is called a gait. Previous works assumed that the shape space is Euclidean when often it is not, either because the robotic joints can spin around forever (i.e., has an S 1 configuration space component, or its parameterization has an S 1 dimension). Consider a shape space that is a torus; gaits that " wrap " around the full range of a shape variable and return to its starting configuration are valid gaits in the shape space yet appear as line segments in the parameterization. Since such a gait does not form a closed loop in the parameterization, existing geometric mechanics methods cannot properly consider them. By explicitly analyzing the topology of the underlying shape space, we derive geometric tools to consider systems with toroidal and cylindrical shape spaces.

- by Jaskaran Singh Grover and +1
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- Granular Physics, Motion Planning, Geometric Mechanics, Hexapod Robot

- by Alexandre Evsukoff
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- Motion control, Neural Networks, Fuzzy Systems, Neural Network

Objectives: This research work involves the design and implementation of Hexapod robot which is a small, inexpensive, six-legged robot. Methods/Statistical Analysis: Hexapod robots from decennium have gained considerable attention in various research and development sectors. This research work involves the design and implementation of Hexapod robot which is a small, inexpensive, six-legged robot intended to replace huge and heavy robotic that are used in space applications, industries for lifting purpose containing solenoids and servo motors. Findings: Initial stage of research work involves design and construction of the structure of Hexapod. Plastic material is used for the construction of body and a Nitinol actuator wire is used to drive the Hexapod’s legs. The final stage involves Hexapod interfacing with Arduino and HBridge
module for supply to achieve proper locomotion of the Hexapod. Specifically, real element like mechanical structure, legs arrangement, impelling, payload, movement condition and waking walk are considered in proposed system design.
In this work, a novel robot is constructed and found that conservative, and lightweight Hexapod robot demonstrates guarantee for use in space, therapeutic, and other large scale robotic applications. Application/Improvements: Due to the unique actuating mechanism of nitinol wire the proposed and developed model has the impact significance in many application fields.

- by Irfan Ahmed Halepoto
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- Hexapod Robot
- by Deane Blackman and +1
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- Mechanical Engineering, Mechatronics, Robust control, Control system

"This paper presents a control strategy for
improving the performance of hexapod robot walking on
uneven terrain using the combination of designed force
threshold-based foot motion and center-of-body (CoB) based
omnidirectional movement. According to the several studies on
omnidirectional movement for legged robot, most of the
proposed methods are targeting to avoid the unnecessary
uneven ground surfaces and obstacles other than energy
efficiencies. Therefore with the proposed method, the main
target of study is to overcome the hexapod walking and
stepping on the uneven terrain with multi-directional
movements. This proposed combination method is done to
guarantee the stability of the robot and increasing the
flexibility of the robot during rotating and zigzaging on uneven
terrain. The model platform for the study is based on
hydraulically driven hexapod robot model system named
COMET-IV and verified using real-time simulation with a 3D
simulator."

- by Addie Irawan
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- Robotics, Autonomous Robotics, Omnidirectional, Hexapod Robot

This article describes the proposed force-based walking method for hydraulically driven hexapod robot named COMET-IV, to walk on the large scale rough terrain. The trajectory is designed where foot step motion for each leg is decided by vertical force on the foot that is calculated from cylinder torque of thigh and shank. This proposed walking trajectory is established with compliant control strategy, which consists of force control based on position range from the trajectory motion signal. This force controller is dynamically control ON/OFF by proposed decision algorithms that derived from the changes of kinematic motion of the trajectory itself. In addition logical attitude (body) control is designed as a part of the decision control module that makes a pre-calculation of decision making based on leg sequence changes. For more stability dynamic swings raising control is derived from trajectory equations to perform a different degree of swing rising for each leg when the robot stepping on the different level of terrain. All proposed controllers are verified in the COMET-IV actual system with walking on the designed rough terrain platform consists of random levels of hard bricks and rubber pads.

- by Addie Irawan
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- Computer Engineering, Autonomous Robotics, Embedded Systems, Robot Learning