Advanced motions for hexapods

Cheah, Wei; Khalili, Hassan Hakim; Arvin, Farshad; Green, Peter; Watson, Simon; Lennox, Barry

doi:10.1177/1729881419841537

Cited by 11 publications

(9 citation statements)

References 24 publications

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“…The kinematic principle of most hexapod robots is the same as the insects, such as spiders [37] and cockroaches [36] . The leg structure of most hexapod robots is also similar to the insects, with three links and three joints on one leg [38]. The Degree of Freedom (DoF) of most hexapod robots for one leg is 6.…”

Section: Background Information Of Hexapod Robotmentioning

confidence: 99%

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Design of Simulink-based 3D Hexapod Robot Model and Implementation of Hexapod Robot Foothold Planning

2022

AJCIS

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In this world, there are many dangerous and complicated environments in which humans cannot work. Mobile robots are an important method that people use to solve these problems. Hexapod robots are known for their excellent static and dynamic stability, as well as strong environmental adaptability in mobile robots. Hexapod robots play a critical role in overcoming complex and challenging terrain. The paper attempts to finish two different parts of the work. The first part is to construct a Simulink-based CORIN robot model, and the second part is to develop a foothold planning algorithm for hexapod robots. The highly visual robot model can be used to display the results of related algorithms. It can also be applied in the Simulink physical environment to simulate robot overturning recovery, robot wall walking and other advanced robot motions through the use of the contact force blocks. Moreover, for the foothold planning algorithm, a collision detection algorithm based on the distance between the feature points and the obstacles is implemented. 18 feature points are set on the CORIN robot to ensure that the robot optional footholds are all collision-free points. Based on the path length, the distance from the target point and the collision state, a cost function is established, which is used in the CORIN robot foothold path planning algorithm. Results show that based on the kinematics of CORIN robot leg and modeling method in the Simulink, a complete CORIN hexapod robot model that can be controlled by specifying the position of the end effector or setting three different revolute joint angles has been designed. Furthermore, a radical foothold planning algorithm that can avoid collisions and focus on reaching the target point is implemented.

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Section: Background Information Of Hexapod Robotmentioning

confidence: 99%

“…For example, the translation of the center of rotation on the robot left-top corner relative to the center of the body is (0.115, 0.09, 0). [44] .…”

Section: Hexapod (Corin) Robot Modelmentioning

confidence: 99%

Design of Simulink-based 3D Hexapod Robot Model and Implementation of Hexapod Robot Foothold Planning

2022

AJCIS

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“…Many of the developed rectangular-shaped hexapod walking robots are inspired by natural archetypes such as ants, cockroaches [31], or beetles [34] that use three DoF per leg. These include research platforms like Messor II [27], DLR-Crawler [35], Corin [36], Alpha [34], MORF [37], and Snake Monster [38], but also commercial platforms Phan-tomX AX [39], MX Phoenix [40], and Daisy [41]. All these platforms are only able to control the position of the leg foot-tip, while the disaster response robot LAURON V [42], extraterrestrial Crater Explorer (CREX) [3], and recently introduced Crabot [17] rely on the 4-DoF leg design.…”

Section: Related Workmentioning

confidence: 99%

“…On the other hand, high terrain mobility can be achieved even with a single DoF per leg as it is demonstrated by robots from the RHex family [9], [43]. However, the RHex robot cannot rely on precise locomotion control, as it is not capable of negotiating individual footsteps [44] or optimize its posture [36], which is essential in heavily cluttered terrains.…”

Section: Related Workmentioning

confidence: 99%

Design, Construction, and Rough-Terrain Locomotion Control of Novel Hexapod Walking Robot With Four Degrees of Freedom Per Leg

2021

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Multi-legged walking robots are suitable platforms for unstructured and rough terrains because of their immense locomotion capabilities. These are, however, redeemed by more sophisticated control and energy-demanding motion in comparison to wheeled robots. Particularly, electrically actuated multi-legged walking robots suffer from the adverse ratio between the robot body weight and payload capacity. Moreover, the ratio of the locomotion speed and endurance is far from what can be achieved with wheeled robots. In this paper, we focus on six-legged walking robots with statically-stable gait. Based on the analysis of existing solutions, we propose a novel construction of the affordable electrically actuated robot with substantial improvements in its motion capabilities, locomotion speed, reliability, and endurance. The proposed design is implemented in a Hexapod Ant Robot (HAntR) that is accompanied by the developed locomotion control approach to improve its rough terrains negotiation capabilities by the active distribution of the robot weight to the legs in the stance phase. Properties of the robot have been experimentally verified in extensive deployments, and based on the experimental benchmarking of the built prototype, HAntR is capable of locomotion for over an hour with the payload of 85% of its weight, and its maximum crawled distance per one second is 87 % of its nominal length. HAntR represents significant improvements not only regarding the robots with identical actuators but also in comparison to other existing platforms. Therefore, we consider the robot HAntR represents a step further towards a wide range of future applications and deployments of six-legged walking robots.

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“…(a) Husky[8], (b) ANYmal[1], (c) CARMA 2[6], (d) Corin[13], (e) Phantom Pro 4, (f) Matrice 600 Pro, (g) AVEXIS[2], (h) BlueROV.1 https://www.dji.com/uk/phantom-4-pro/info#downloads.2 https://www.dji.com/uk/matrice600-pro/info#specs.…”

mentioning

confidence: 99%

Limitations of wireless power transfer technologies for mobile robots

2019

Self Cite

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Advances in technology have seen mobile robots becoming a viable solution to many global challenges. A key limitation for tetherless operation, however, is the energy density of batteries. Whilst significant research is being undertaken into new battery technologies, wireless power transfer may be an alternative solution. The majority of the available technologies are not targeted toward the medium power requirements of mobile robots; they are either for low powers (a few Watts) or very large powers (kW). This paper reviews existing wireless power transfer technologies and their applications on mobile robots. The challenges of using these technologies on mobile robots include delivering the power required, system efficiency, human safety, transmission medium, and distance, all of which are analyzed for robots operating in a hazardous environment. The limitations of current wireless power technologies to meet the challenges for mobile robots are discussed and scenarios which current wireless power technologies can be used on mobile robots are presented.

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Advanced motions for hexapods

Cited by 11 publications

References 24 publications

Design of Simulink-based 3D Hexapod Robot Model and Implementation of Hexapod Robot Foothold Planning

Design of Simulink-based 3D Hexapod Robot Model and Implementation of Hexapod Robot Foothold Planning

Design, Construction, and Rough-Terrain Locomotion Control of Novel Hexapod Walking Robot With Four Degrees of Freedom Per Leg

Limitations of wireless power transfer technologies for mobile robots

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