Modeling, Simulation and Analysis of Locomotion Patterns for Hexapod Robots

Oliveira, Luiz Fernando Pinto de; Rossini, Flávio Luiz

doi:10.1109/tla.2018.8327389

Cited by 13 publications

(10 citation statements)

References 14 publications

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“…Another alternative for locomotion in unstructured environments is the use of legged robots, according to [15,18]. As advantages, these robots do not need constant contact with the ground to get around and adjust their posture according to the slope of the terrain, allowing them to navigate in rugged and difficult to access environments [110,111]. Figure 12 shows some commercially available off-the-shelf legged robots.…”

Section: Locomotion Systemsmentioning

confidence: 99%

Advances in Agriculture Robotics: A State-of-the-Art Review and Challenges Ahead

2021

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The constant advances in agricultural robotics aim to overcome the challenges imposed by population growth, accelerated urbanization, high competitiveness of high-quality products, environmental preservation and a lack of qualified labor. In this sense, this review paper surveys the main existing applications of agricultural robotic systems for the execution of land preparation before planting, sowing, planting, plant treatment, harvesting, yield estimation and phenotyping. In general, all robots were evaluated according to the following criteria: its locomotion system, what is the final application, if it has sensors, robotic arm and/or computer vision algorithm, what is its development stage and which country and continent they belong. After evaluating all similar characteristics, to expose the research trends, common pitfalls and the characteristics that hinder commercial development, and discover which countries are investing into Research and Development (R&D) in these technologies for the future, four major areas that need future research work for enhancing the state of the art in smart agriculture were highlighted: locomotion systems, sensors, computer vision algorithms and communication technologies. The results of this research suggest that the investment in agricultural robotic systems allows to achieve short—harvest monitoring—and long-term objectives—yield estimation.

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Section: Locomotion Systemsmentioning

confidence: 99%

Advances in Agriculture Robotics: A State-of-the-Art Review and Challenges Ahead

2021

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“…Another research possibility is the use of robots with other forms of locomotion, 31 namely legged robots, as they are able to move in irregular and unstable terrain. 36,37 In addition, they do not need constant contact with the ground for movement, and the damage caused to the plantation soil is much less than that of wheeled robots. Since only Cäsar and Greenbot robots are commercially available, another proposal would be the development of a new research based on legged robots already available for use, that is, off-the-shelf.…”

Section: Unsolved Issuesmentioning

confidence: 99%

Agricultural robotics: A state of the art survey

2020

Robots in Human Life

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The constant increase in the world population has progressively demanded that humanity develop new technologies to face challenges such as providing high-quality food to the consumer market. In this sense, the concept of precision agriculture arises, proposing the development of agricultural activities such as preparing the land, sowing, planting, treating plants and harvesting automatically through robotic systems. This study focuses on performing a systematic review of the state of the art of robotics applications to execute agricultural activities. Through a comparative analysis of the existing solutions it was possible to highlight the similarities, differences and limitations of several agricultural robots. After looking at the needs of agricultural tasks and the limitations of robots, the challenges that are still unresolved and their possible solutions are indicated.

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“…L.F.P. Oliveira 32 used Solidworks to establish the three-dimensional virtual prototype model of the bionic hexapod robot and the contact model between the foot and the ground. The simulation was carried out in MATLAB/SimMechanics to obtain the simulation curves of the joint position and contact force of the robot, which provided a certain reference for the structure and motion control method of hexapod robot; C.A.G.…”

Section: Introductionmentioning

confidence: 99%

“…In the above references, references [30][31][32][33] use a software to build a simulation model for research. References [34][35][36] use multi-software co-simulation for research.…”

Section: Introductionmentioning

confidence: 99%

A Mathematical Model Including Mechanical Structure, Hydraulic and Control of LHDS

Ma¹,

Han³

et al. 2021

Robotica

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SUMMARY In this paper, mathematical models of kinematics, statics and inverse dynamics are derived firstly according to the mechanical structure of leg hydraulic drive system (LHDS). Then, all the above models are integrated with MATLAB/Simulink to build the LHDS simulation model, the model not only considers influence of leg dynamic characteristics on hydraulic system but also takes into account nonlinearity, variable load characteristics and other common problems brought by hydraulic system, and solves compatibility and operation time which brought by using multiple software simultaneously. The experimental results show the simulation model built in this paper can accurately express characteristics of the system.

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Modeling, Simulation and Analysis of Locomotion Patterns for Hexapod Robots

Cited by 13 publications

References 14 publications

Advances in Agriculture Robotics: A State-of-the-Art Review and Challenges Ahead

Advances in Agriculture Robotics: A State-of-the-Art Review and Challenges Ahead

Agricultural robotics: A state of the art survey

A Mathematical Model Including Mechanical Structure, Hydraulic and Control of LHDS

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