Multitasking Spider Hexapod Robot

Uddin, Md. Imran; Alamgir, Md. Shahriar; Chakrabarty, Joy; Hossain, Md. Iqbal; Samy, Md. Arif Abdulla

doi:10.1109/raaicon48939.2019.58

Cited by 9 publications

(8 citation statements)

References 1 publication

Supporting

Mentioning

Contrasting

Order By: Relevance

“…where 𝑖 = {1 − 6}, 𝜉, 𝜂 and 𝜁 -coordinates of the center of mass O spider-robot body, 𝜓, 𝜃 61 and 𝛾 -angles of rotation of the body relative to its center of mass O, 𝜑 𝑖1 -the angle of 62 rotation of the 𝑖-th limb relative to the body (𝑖1), 𝜑 𝑖2 and 𝜑 𝑖3 -angles of position of its joints (𝑖2 and 𝑖3); The model in the Simulink environment is synthesized on the basis of the CADmodel of the spider-robot [1], imported from the CAD environment (see Fig. 2).…”

Section: Creating Modelsmentioning

confidence: 99%

“…where 𝑘 -constant depending on the characteristics of the contacting bodies, 𝑣 -limb speed. The model in the SimInTech environment was built on the basis of the previously obtained mathematical model [1]:…”

Section: Creating Modelsmentioning

confidence: 99%

“…In this work, research is continued in the field of synthesis of control of a group of autonomous walking robots. Our task was to compare the mathematical model synthesized in [1] with the automatically synthesized model of the spider-robot, as well as, if possible, to refine the previously obtained mathematical model.…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Mathematical Model of a Robot-spider for Group Control Synthesis: Derivation and Validation

Kravchenko,

Efremov,

Zhilenkov

et al. 2023

Journal of Robotics and Control

View full text Add to dashboard Cite

A six-legged spider robot is a complex object from the point of view of the problem of synthesizing a system for controlling its movement. To synthesize an advanced control system for such a robot, which must solve non-trivial problems of overcoming obstacles, functioning under conditions of external disturbances, etc., we first solve the problem of synthesizing an information model of the object, on the basis of which its control system will subsequently be built.The paper compares two methods for synthesizing the information model of a six-legged spider-robot. In the first method, an information model is automatically synthesized from a CAD model of a spider-robot in a MATLAB-based graphical programming environment Simulink. In the second method, the information model is synthesized in the environment of dynamic modeling of technical systems SimInTech on the basis of a system of differential equations in the Cauchy form. Control loops and external influences are added to the information models synthesized in each of the modeling environments. The study showed that each of the resulting models has both its own individual advantages and disadvantages. They are mainly related to taking into account the mutual influence of various blocks of models on each other. It is shown that, in the end, the two models complement each other and make it possible to obtain an advanced basis for further synthesis of the motion control system.The results obtained in this work make it possible to use information models as a basis for the development of a control system for a physical model of a six-legged spider-robot, printed on a 3D printer and assembled on the basis of the Arduino hardware platform.

show abstract

Section: Creating Modelsmentioning

confidence: 99%

Section: Creating Modelsmentioning

confidence: 99%

See 1 more Smart Citation

Mathematical Model of a Robot-spider for Group Control Synthesis: Derivation and Validation

Kravchenko,

Efremov,

Zhilenkov

et al. 2023

Journal of Robotics and Control

View full text Add to dashboard Cite

show abstract

“…Imran Uddin [2] said in Multitasking Hexapod Robot,that Each limbs takes 3 servo motors for motion. And the payload of hexapod robot depends on the torque of servo motors.…”

Section: IImentioning

confidence: 99%

Development of Hexapod Robot with Computer Vision

Abhishek¹

2021

IJRASET

View full text Add to dashboard Cite

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. Keywords: Hexapod, Raspberry Pi, Computer vision, Object detection, Yolo, Servo Motor, OpevCV.

show abstract

“…Multilegged robot has better stability in structure compared with biped robot. Quadruped robot (Khorram & Moosavian, 2017; Parween et al, 2020), hexapod robot (Campbell & Buehler, 2003; Moore et al, 2002), and eight‐legged robot (Luk et al, 1996; Uddin et al, 2019) can climb the steps and even gullies in sequence by avoiding unbalance during the climb. Bipedal robots occupy a smaller area and adapt better to the steps compared with multilegged robots.…”

Section: Introductionmentioning

confidence: 99%

Mechanical design and wheel–leg–body cooperation control of a step‐climbing robot

Liu

Zhang

et al. 2022

Journal of Field Robotics

View full text Add to dashboard Cite

This paper proposes the mechanical design and wheel-leg-body cooperation control of a robot capable of climbing stairs for the RoboMaster competition. The robot is comprised of a robot body and four legs with wheels on each end. The front and hind legs composed of the linkages and sliders complete the climbing stairs motion under the coordination of the motors and the cylinders. The dynamic stair-climbing motion is realized by control the wheel speed and leg motion corresponding to the body motion of the robot relative to the stair environment. Compared with the common split stair climbing designed, the robot can dynamically climb the stairs without losing the forward speed, which makes climbing stairs more smoothly while retaining the ability to move on the flat. Experimental results demonstrate that the robot can climb stairs with a riser height up to 20 cm and a tread depth more than 80 cm. And the process of climbing each stair is reduced to 1-2 s.

show abstract

Multitasking Spider Hexapod Robot

Cited by 9 publications

References 1 publication

Mathematical Model of a Robot-spider for Group Control Synthesis: Derivation and Validation

Mathematical Model of a Robot-spider for Group Control Synthesis: Derivation and Validation

Development of Hexapod Robot with Computer Vision

Mechanical design and wheel–leg–body cooperation control of a step‐climbing robot

Contact Info

Product

Resources

About