Research on Foot Slippage Estimation of Insect Type Hexapod Robot

Liu, Yuanyuan; Xing, Boyang; Jiang, Lei; Wang, Zhirui; Liang, Zhenjie; Zhao, Jianxin; Su, Bo

doi:10.1109/ccdc52312.2021.9602393

Cited by 2 publications

(2 citation statements)

References 17 publications

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“…the torso, which is given by Eq. (12). For this purpose, the control evaluates the relative coordinates of the feet, which are in contact with the ground.…”

Section: Posture Adjustmentmentioning

confidence: 99%

“…By defining the Lagrange equations of motion for each limb, the work presented by Zhang et al [11] discusses the torso stability during the hexapod navigation across a plane. The Lagrange formulation is also used to study the motion of a hexapod's legs and estimate the slippage between the foot and the ground in the work presented by Liu et al [12]. Similarly, He et al [13] presented a simplified multibody model of a hexapod robot to study the normal and tangential contact forces of the feet in order to predict the sinking and slippage of these bodies in a soft terrain.…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Development and implementation of a new approach for posture control of a hexapod robot to walk in irregular terrains

Coelho,

Dias,

Lopes

et al. 2023

Robotica

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The adaptability of hexapods for various locomotion tasks, especially in rescue and exploration missions, drives their application. Unlike controlled environments, these robots need to navigate ever-changing terrains, where ground irregularities impact foothold positions and origin shifts in contact forces. This dynamic interaction leads to varying hexapod postures, affecting overall system stability. This study introduces a posture control approach that adjusts the hexapod’s main body orientation and height based on terrain topology. The strategy estimates ground slope using limb positions, thereby calculating novel limb trajectories to modify the hexapod’s angular position. Adjusting the hexapod’s height, based on the calculated slope, further enhances main body stability. The proposed methodology is implemented and evaluated on the ATHENA hexapod (All-Terrain Hexapod for Environment Adaptability). Control feasibility is assessed through dynamic analysis of the hexapod’s multibody model on irregular surfaces, using computational simulations in Gazebo software. Environmental complexity’s impact on hexapod stability is tested on both a ramp and uneven terrain. Independent analyses for each scenario evaluate the controller’s effect on roll and pitch angular velocities, as well as height variations. Results demonstrate the strategy’s suitability for both environments, significantly enhancing posture stability.

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“…the torso, which is given by Eq. (12). For this purpose, the control evaluates the relative coordinates of the feet, which are in contact with the ground.…”

Section: Posture Adjustmentmentioning

confidence: 99%