Simulation and implementation of a hexapod configuration using modular robotics

Estepa, Ricardo Andrés Castillo; Cotera, Mateo; Vargas, German

doi:10.1109/coniiti.2017.8273340

Cited by 1 publication

(1 citation statement)

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“…The robot's hexapod configuration has already been tested on unstructured terrain and other topologies, while the quadruped and biped configurations (i.e. with legs) are currently under investigation [18][19][20]. This paper reports on the results of comprehensive simulations and mathematical analyses.…”

Section: Investigation Projectmentioning

confidence: 99%

Assembly and implementation of modular quadrupedal architecture

Cruz-Carbonell¹,

Castillo-Estepa²

2019

Vis. Electron.

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This paper describes the assembling process of a quadrupedal architecture using the modular robotic system Mecabot. Several possible topologies are addressed to finally opt for a design that allows the use of an active column. Based on this, the mathematical model of the control is proposed to perform the movements of displacement, open turn and rotation. The locomotion profiles for these first two movement modalities are bio-inspired. For the rotation modality, a characteristic quadrupedal robot transition is used to allow the correct rotation execution without using a great number of degrees of freedom. The robot is tested on structured and unstructured terrains by measuring its speed in function of the movement frequency variation. For the open turn modality, the described circumference radius is measured in function of the offset variation. With the tests, the second Mecabot configuration with legs is finally obtained complementing the research work carried out for apodal configurations (snake, wheel caterpillar) and hexapod.

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Section: Investigation Projectmentioning

confidence: 99%