Design and prototype of a six‐legged walking insect robot

Soygüder, Servet; Alli, Hasan

doi:10.1108/01439910710774412

Cited by 30 publications

(20 citation statements)

References 10 publications

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“…Hasan Alli [19],et.al., (2007) built up a six legged robot enlivened from a cockroach created with just two actuators for driving the system.They added springs between certain connections to produce more steady strolling on unpleasant ground and copy muscles.In this layout ,the up/down movement of mount legs are obtained by turning both the right and left cam shafts in a similar way,utilizing only one actuator as opposed to utilizing various actuators for each leg.The single actuator plays out all the errands vital for up/down movement and rearranges the control of the system.In this examination just straight line directions were figured out.…”

Section: Novel Tripod Robotmentioning

confidence: 99%

Analyses and Optimization Methods of Legged Robots: A Review

Vs¹,

Seelaboyina²,

Sc³

et al. 2020

Preprint

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During the most recent years, a lot of research has been done in creating robots with more self-governance so that they can overcome the challenges that real world environments present. The robot's limited versatility in real world applications can be overcome by the development of Legged robots. Also, as they permit movement in unavailable territory to robots with wheels, Legged Robots are more advantageous. But the potency of the legged robots explicitly its energy usage among alternate points of view really fall behind robots that use wheels. So, the present status of development, there are as yet a few perspectives that need to be analysed, optimized and enhanced. This paper presents review of literature of various biologically inspired legged robots, various techniques adopted for their analysis and optimization and the analysis and optimization of the ones that are not biologically inspired

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Section: Novel Tripod Robotmentioning

confidence: 99%

Analyses and Optimization Methods of Legged Robots: A Review

Vs¹,

Seelaboyina²,

Sc³

et al. 2020

Preprint

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“…When the early landing is detected at t threshold , the early landing controller generates new desired trajectories for the swing leg and the other five supporting legs during the swing phase. The trajectories from the early landing controller for the swing leg are shown in equations (18) and (20), and the trajectories for the supporting legs are shown in equations (19) and (21). According to equations (18)- (21), the swing leg stops moving on the x-axis after early landing.…”

Section: Early Landing Controllermentioning

confidence: 99%

“…Through its unique design, the robot can walk on the uneven terrain like a spider using only one actuator. 18,19 RHex which is developed from Boston Dynamics has six arc-shaped legs. 20 RHex can overcome the uneven terrain by rotating each leg sequentially.…”

Section: Introductionmentioning

confidence: 99%

Development of a walking algorithm on the uneven terrain for a hexapod robot Little Crabster200

Cho

2018

Advances in Mechanical Engineering

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In Korea, the underwater robot Crabster200 was developed to perform missions such as accident correspondence, artifact exploration, and resource extraction. To explore the shallow sea successfully, it was designed to walk and swim with six legs. Besides, to develop the walking algorithm efficiently, a small model of Crabster200, Little Crabster200, was developed as well. This article describes the development of a walking algorithm on the uneven terrain for the hexapod robot Little Crabster200. The main purpose of the algorithm is for the robot to maintain a horizontal posture while it walks on uneven terrain. The pattern generator makes a trajectory of normal walking on the flat ground, and the online controller helps Little Crabster200 maintain stable walking on uneven terrain. The proposed algorithm was verified by experiments using the Little Crabster200 on a treadmill equipped with obstacles such as wood boards and bricks. The Little Crabster200 walked stably on the uneven terrain while maintaining a horizontal posture in the experiments.

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“…To verify to tracking performance, the experimental results were obtained. Degrees of freedom (DOF) are very important for performance tracking mobile robot (Soyguder and Alli, 2007). The wheeled robot has seven DOF, one each actuator in each of its identical wheels.…”

Section: Design Of Six-wheeled Tracking Robotmentioning

confidence: 99%

An implementation of a novel vision‐based robotic tracking system

Talu

Soygüder²,

Aydoğmuş³

2010

Sensor Review

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If you would like to write for this, or any other Emerald publication, then please use our Emerald for Authors service information about how to choose which publication to write for and submission guidelines are available for all. Please visit www.emeraldinsight.com/authors for more information. About Emerald www.emeraldinsight.comEmerald is a global publisher linking research and practice to the benefit of society. The company manages a portfolio of more than 290 journals and over 2,350 books and book series volumes, as well as providing an extensive range of online products and additional customer resources and services.Emerald is both COUNTER 4 and TRANSFER compliant. The organization is a partner of the Committee on Publication Ethics (COPE) and also works with Portico and the LOCKSS initiative for digital archive preservation. AbstractPurpose -The purpose of the paper is to present an approach to detect and isolate the sensor failures, using a bank of extended Kalman filters (EKFs) using an innovative initialization of covariance matrix using system dynamics. Design/methodology/approach -The EKF is developed for nonlinear flight dynamic estimation of a spacecraft and the effects of the sensor failures using a bank of Kalman filters in investigated. The approach is to develop fast convergence Kalman filter algorithm based on covariance matrix computation for rapid sensor fault detection. The proposed nonlinear filter has been tested and compared with the classical Kalman filter schemes via simulations performed on the model of a space vehicle; this simulation activity has shown the benefits of the novel approach. Findings -In the simulations, the rotational dynamics of a spacecraft dynamic model are considered, and the sensor failures are detected and isolated. Research limitations/implications -A novel fast convergence Kalman filter for detection and isolation of faulty sensors applied to the three axis spacecraft attitude control problem is examined and an effective approach to isolate the faulty sensor measurements is proposed. Advantages of using innovative initialization of covariance matrix are presented in the paper. The proposed scheme enhances the improvement in estimation accuracy. The proposed method takes advantage of both the fast convergence capability and the robustness of numerical stability. Quaternion-based initialization of the covariance matrix is not considered in this paper. Originality/value -A new fast converging Kalman filter for sensor fault detection and isolation by innovative initialization of covariance matrix applied to a nonlinear spacecraft dynamic model is examined and an effective approach to isolate the measurements from failed sensors is proposed. An EKF has been developed for the nonlinear dynamic estimation of an orbiting spacecraft. The proposed methodology detects and decides if and where a sensor fault has occurred, isolates the faulty sensor, and outputs the corresponding healthy sensor measurement.

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Design and prototype of a six‐legged walking insect robot

Cited by 30 publications

References 10 publications

Analyses and Optimization Methods of Legged Robots: A Review

Analyses and Optimization Methods of Legged Robots: A Review

Development of a walking algorithm on the uneven terrain for a hexapod robot Little Crabster200

An implementation of a novel vision‐based robotic tracking system

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