Study on hexapod robot manipulation using legs

Ding, Xilun; Yang, Fan

doi:10.1017/s0263574714001799

Cited by 35 publications

(14 citation statements)

References 24 publications

(22 reference statements)

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“…A possible justification of this fact could be that these systems are still proofs of concepts designed mainly to evaluate the feasibility of their control architectures and are not in an advanced stage of their development. Nonetheless, the publications that identified a specific purpose for their robots described tasks that must be executed in complex environments, such as humanitarian demining [22], rescue [9] and outer space missions [17,32,34]. Moreover, these chores require a high level of autonomy to avoid human intervention.…”

Section: Discussionmentioning

confidence: 99%

“…From Figure 5b, 55.56% of these systems used kinematic models to describe the actuation of the limbs, because it is only required to establish a connection between the angular position of the joints and the coordinates of the feet. Moreover, most of the kinematic-based controllers use geometrical constraints to evaluate the stability of the hexapod, such as the SSM [4,6,[14][15][16][17]. The simplicity of these models has been successfully implemented for complex maneuvers like walking across steps and ramps.…”

Section: Discussionmentioning

confidence: 99%

“…[16] used the SSM to adjust the posture of a hexapod while walking across ramps with a maximum slope of 30 degrees. Along with aiming to reduce the energy consumption of the actuators of Noros-III, considering the desired motion of the object intended for manipulation, Ding and Yang [17] also used the SSM to evaluate the stability of the four-legged gait generated to carry the load. Zhao et al [4] concerned themselves with the ability to overcome obstacles and calculated the SSM at each gait cycle to determine if the trajectory defined to surmount an object was stable.…”

Section: Kinematic-based Controlmentioning

confidence: 99%

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Trends in the Control of Hexapod Robots: A Survey

et al. 2021

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The static stability of hexapods motivates their design for tasks in which stable locomotion is required, such as navigation across complex environments. This task is of high interest due to the possibility of replacing human beings in exploration, surveillance and rescue missions. For this application, the control system must adapt the actuation of the limbs according to their surroundings to ensure that the hexapod does not tumble during locomotion. The most traditional approach considers their limbs as robotic manipulators and relies on mechanical models to actuate them. However, the increasing interest in model-free models for the control of these systems has led to the design of novel solutions. Through a systematic literature review, this paper intends to overview the trends in this field of research and determine in which stage the design of autonomous and adaptable controllers for hexapods is.

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Section: Discussionmentioning

confidence: 99%

Section: Discussionmentioning

confidence: 99%

Section: Kinematic-based Controlmentioning

confidence: 99%

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Trends in the Control of Hexapod Robots: A Survey

et al. 2021

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“…The legged system has been modeled as a tree structure 43 with variable architecture, that is, the system has both closed-loop (formed by support legs) and open-chain (formed by swing legs) architecture with respect to the trunk body. To make the formulation generic, two reference frames are associated with the system: (1) Static Global reference frame G 0 and (2) Dynamic reference frame G with respect to XYZ coordinate system.…”

Section: Reference Systems and Structure Of The Robotmentioning

confidence: 99%

Optimal Feet-Forces’ and Torque Distributions of Six-Legged Robot Maneuvering on Various Terrains

Mahapatra¹,

Roy

Pratihar

2019

Robotica

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SUMMARYAn analytical model with coupled dynamics for a realistic six-legged robotic system locomoting on various terrains has been developed, and its effectiveness has been proven through computer simulations and validated using virtual prototyping tools and real experiment. The approach is new and has not been attempted before. This study investigated the optimal feet-forces’ distributions under body force and foot–ground interaction considering compliant contact and friction force models for the feet undergoing slip. The kinematic model with 114 implicit constraints in 3D Cartesian space has been transformed in terms of generalized coordinates with a reduced explicit set of 24 constrained equations using kinematic transformations. The nonlinear constrained inverse dynamics model of the system has been formulated as a coupled dynamical problem using Newton–Euler method with realistic environmental conditions (compliant foot–ground contact, impact, and friction) and computed using optimization techniques due to its indeterminate nature. One case study has been carried out to validate the analytical data with the simulated ones executed in MSC.ADAMS® (Automated Dynamic Analysis of Mechanical Systems), while the other case study has been conducted to validate the analytical and simulated data with the experimental ones. In both these cases, results are found to be in close agreement, which proves the efficacy of the model.

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“…Secara umum, robot berjalan terbagi menjadi dua kelompok, yaitu robot berkaki dan robot beroda. Robot berkaki dipandang lebih unggul dibandingkan dengan robot beroda saat berjalan di atas permukaan yang relatif kasar karena robot berkaki tidak memerlukan kontak yang kontinyu dengan permukaan jalannya [1]. Robot berkaki yang dikembangkan selama ini biasanya memiliki dua kaki, empat kaki, dan enam kaki.…”

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Desain dan Implementasi Robot Heksapoda dengan Misi Pemadaman Api

Najmurrokhman¹,

Kusnandar²,

Wibowo³

et al. 2018

jumanji

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Makalah ini memaparkan tentang desain dan implementasi robot heksapoda yang bergerak dalam suatu ruang dengan misi memadamkan api. Sumber api diletakkan dalam ruang tertentu. Untuk mencapai ruang tersebut, robot harus berjalan menyusuri lorong dengan lebar tertentu dan dibatasi oleh dinding. Robot harus bergerak tanpa menabrak dinding pembatas ruang. Untuk merealisasikan sistem tersebut, robot heksapoda dilengkapi dengan tiga buah sensor, yaitu sensor jarak, sensor garis, dan sensor api. Sensor jarak berupa sensor ultrasonik tipe HCSR04 berfungsi memberikan informasi jarak antara robot dengan dinding sehingga robot terhindar dari tabrakan dengan dinding. Sensor garis berupa sensor LDR digunakan untuk mendeteksi garis penanda ruang sumber api. Sementara itu, sensor api berupa sensor flame 5 channel berfungsi mendeteksi keberadaan api yang harus dipadamkan oleh robot. Hasil eksperimen menunjukkan robot heksapoda yang dirancang dapat berjalan menyusuri ruang tanpa menabrak dinding dan menemukan sumber api, kemudian api tersebut dipadamkan oleh kipas yang berputar setelah diberi tegangan input oleh mikrokontroler.

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Study on hexapod robot manipulation using legs

Cited by 35 publications

References 24 publications

Trends in the Control of Hexapod Robots: A Survey

Trends in the Control of Hexapod Robots: A Survey

Optimal Feet-Forces’ and Torque Distributions of Six-Legged Robot Maneuvering on Various Terrains

Desain dan Implementasi Robot Heksapoda dengan Misi Pemadaman Api

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