This paper presents the configuration for a hexapod robot named MYRMEX and has as its major objective to determine the main sensor points to be found on its structure for an optimal redistribution of forces. During the robot's (electronic and mechanical) developmental phase, we were able to determine knots with increasing levels of tension and compression, in order to send signals to the strain gauges, and to indirectly measure contact forces between the legs and the terrain. This study allowed us to theoretically allocate a group of strain gauges on the optimal positions in the mechanical structure so that they can accomplish the dynamic control of the robot. The strain gauges were subjected to experiments that allowed us to assess their performance and calibration. At the end of the paper, we discuss a definition for optimal redistribution of forces by proposing the optimization of a functional equation wherein the numeric values defined on the first part of the paper are utilized as parameters.
This paper explores the kinematics control of the body center and legs trajectory in Myrmex, a hexapod robot that has a statically stable gait. We formulate a model for the kinematics control of the robot body center as a function of actuated joint angles. We show that there is a Jacobian matrix for the robot whole-body control, which is well defined when three or more legs are in contact with the ground. This model allows to explore the involvement of the whole-body during the gait cycle, as well as identify actuation restrictions and increase the working space.
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