Inverse Kinematics Analysis for Motion Prediction of a Hexapod Robot

Muslimin, Selamat; Istardi, Didi

doi:10.1109/incae.2018.8579402

Cited by 4 publications

(2 citation statements)

References 8 publications

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“…To do this, the balance must be maintained through angle control using the servo motor of each joint. The target angle is calculated through the inverse kinematic analysis of the landing leg of the 2-link structure [21].…”

Section: Kinematics Of the Landing Legsmentioning

confidence: 99%

Robust Landing Control of a Quadcopter on a Slanted Surface

Choi

Cheon

Lee

2021

Int. J. Precis. Eng. Manuf.

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A robust landing control algorithm is proposed for a quadcopter, as well as for a landing platform to land on an inclined or problematic surface. To use the quadcopter for outdoor application, it is necessary to design a landing platform that can withstand environmental obstacles such as wind and weight load during landing. Conventional retractor landing platforms are not suitable for achieving a stable landing on inclined surfaces or obstacles. Therefore, in this paper, 2-link structured landing legs are applied to stably land on an inclined surface or obstacle with a suitable control algorithm. To achieve stable landing on a slanted surface, a cooperative control algorithm of the quadcopter and the landing platform has been proposed. The proposed robust landing system comprises two controllers, i.e., a high-speed proportional derivative control for the landing platform and a neural network-based proportional–integral–derivative control for controlling the quadcopter in real time. A quadcopter with a robust landing platform has been implemented, and the performance of the robust landing control algorithm has been demonstrated with the system.

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Section: Kinematics Of the Landing Legsmentioning

confidence: 99%

Robust Landing Control of a Quadcopter on a Slanted Surface

Choi

Cheon

Lee

2021

Int. J. Precis. Eng. Manuf.

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“…The Gujarat earthquake that hit south-southwest of the village of Chobani in Bhachau Taluka of Kutch District in 2001 and the terrorist attacks on the Taj hotel, Mumbai in 2008 and also currently the Bihar flood in 2019 which made dozens of people homeless are clear indication that the world is not prepared for these enormous disasters 1) . Unfortunately, the infrastructures were not stand infront of natural disasters, even in case of terrorist attack in Taj hotel the local police and rescue teams like NDRF were not prepared for rescue missions.…”

Section: Introductionmentioning

confidence: 99%

Modelling and Analysis of Hexapod walking Robot

Shrivastava¹,

Diwakar²,

Sehgal³

et al. 2022

Evergreen

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In comparison with the majority of other animals, the spider can access all kinds of environments where other animals or even humans can't. These important attributes are taken into consideration, to design and develop a Hexapod Walking Robot, in order to perform various movements such as ascend and descend in all the directions. Hexapod Robots have always been a centre of attraction for several years. Many universities, research centres, and industries have carried out studies but in the past few years, systematic walking robots have been formulated, fabricated, and built with implementations that can be suitable for experimental demands. The paper presents a model to understand how, mathematically, a hexapod animal walk. The aim is to develop a suitable bio-mimetic model of hexapod walking robot that is lighter in weight with reduced number of motors and easily controllable. Modifications in the design is adopted by using solid works. Thereafter, a detailed analysis of the model is conducted along with the moment and force analysis. Moment analysis is carried out to check the walking capabilities of the legs at extreme joint positions. The robot leg motion is checked by applying loads at which the robot turns to fail and it has been found that the proposed model is suitable to bear different forces while walking to perform any desired task. This research also gives an outline of the design considerations of the Hexapod Walking Robot and a detailed design procedure is also discussed for the feasible and systematic design of a walking robot. In particular, these design procedures covers the main features such as mechanical structure and leg configuration, actuating and driving systems, motion controls, and walking gaits.

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