Design of Six Legged Spider Robot and Evolving Walking Algorithms

Karakurt, Tolga; Durdu, Akif; Yılmaz, Nihat

doi:10.7763/ijmlc.2015.v5.490

Cited by 18 publications

(8 citation statements)

References 3 publications

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“…In the middle of 70s, a six-legged machine with an archetypical model of motion control was designed in the Russian Academy of Science in Moscow 13) . The model had radiation scanning range finders and was connected with two systems which were controlled by computers 14) . In 1976, at Moscow State University, a robot with tabular axial chassis articulated designed leg and 3 degrees of freedom was designed 15) .…”

Section: Early Designmentioning

confidence: 99%

Modelling and Analysis of Hexapod walking Robot

Shrivastava¹,

Diwakar²,

Sehgal³

et al. 2022

Evergreen

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In comparison with the majority of other animals, the spider can access all kinds of environments where other animals or even humans can't. These important attributes are taken into consideration, to design and develop a Hexapod Walking Robot, in order to perform various movements such as ascend and descend in all the directions. Hexapod Robots have always been a centre of attraction for several years. Many universities, research centres, and industries have carried out studies but in the past few years, systematic walking robots have been formulated, fabricated, and built with implementations that can be suitable for experimental demands. The paper presents a model to understand how, mathematically, a hexapod animal walk. The aim is to develop a suitable bio-mimetic model of hexapod walking robot that is lighter in weight with reduced number of motors and easily controllable. Modifications in the design is adopted by using solid works. Thereafter, a detailed analysis of the model is conducted along with the moment and force analysis. Moment analysis is carried out to check the walking capabilities of the legs at extreme joint positions. The robot leg motion is checked by applying loads at which the robot turns to fail and it has been found that the proposed model is suitable to bear different forces while walking to perform any desired task. This research also gives an outline of the design considerations of the Hexapod Walking Robot and a detailed design procedure is also discussed for the feasible and systematic design of a walking robot. In particular, these design procedures covers the main features such as mechanical structure and leg configuration, actuating and driving systems, motion controls, and walking gaits.

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Section: Early Designmentioning

confidence: 99%

Modelling and Analysis of Hexapod walking Robot

Shrivastava¹,

Diwakar²,

Sehgal³

et al. 2022

Evergreen

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“…Alexander Brincalepe Campo [1] described about Hexapod robot which has image processing implemented on Raspberry Pi and explained about the Servo motor axis in the angular position corresponding to the input signal generated by Pulse Width Modulation (PWM) andtold Raspberry Pi is the best for computer vision. TolgaKarakurt [4] described about of Six-Legged Robot and its Evolving Walking Algorithm. And explained in detail about Calculated distance value depends on the acoustic wave motion utilized.…”

Section: IImentioning

confidence: 99%

“…Nihat Yilmaz [4] described Six-Legged Spider design and Walking Algorithm evolution. This paper has developed a Hexapod robot which can perform operations such as search and rescue operations in places which are difficult to access.…”

Section: IImentioning

confidence: 99%

Development of Hexapod Robot with Computer Vision

Abhishek¹

2021

IJRASET

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Nowadays many robotic systems are developed with lot of innovation, seeking to get flexibility and efficiency of biological systems. Hexapod Robot is the best example for such robots, it is a six-legged robot whose walking movements try to imitate the movements of the insects, it has two sets of three legs alternatively which is used to walk, this will provide stability, flexibility and mobility to travel on irregular surfaces. With these attributes the hexapod robots can be used to explore irregular surfaces, inhospitable places, or places which are difficult for humans to access. This paper involves the development of hexapod robot with digital image processing implemented on Raspberry Pi, to study in the areas of robotic systems with legged locomotion and robotic vision. This paper is an integration of a robotic system and an embedded system of digital image processing, programmed in high level language using Python. It is equipped with a camera to capture real time video and uses a distance sensor that allow the robot to detect obstacles. The Robot is Self-Stabilizing and can detect corners. The robot has 3 degrees of freedom in each six legs thus making a 18 DOF robotic movement. The use of multiple degrees of freedom at the joints of the legs allows the legged robots to change their movement direction without slippage. Additionally, it is possible to change the height from the ground, introducing a damping and a decoupling between the terrain irregularities and the body of the robot servo motors. Keywords: Hexapod, Raspberry Pi, Computer vision, Object detection, Yolo, Servo Motor, OpevCV.

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“…Jurnal selanjutnya yang berhubungan dengan penelitian ini adalah jurnal oleh Kakarut, Dirdu, Yilmaz "Design of Six Legged Spider Robot and Evolving Walking Algorithms" [5]. Jurnal ini berbicara tentang desain dan pengembangan robot berkaki enam atau yang nama lainnya adalah hexapod.…”

Section: Landasan Teoriunclassified

Tilted Capable Quadruped Spider Robot

Hugo

2021

proxies

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Development of an Arduino Spider Robot, or known as Quadruped that could walk on titled grounds. The main purpose is to achieve capability to handle grounds that are tilted on left, right, up, and down tilted. The main parts are SG90 Servos and an Arduino Nano. The Arduino Nano will be the core or brain for the Spider. The way how this spider robot will walk is determined by the algorithm that will be made by the Researcher. The Researcher will start making the spider robot's walking algorithm from scratch. This Spider Robot can be added with extra modules like camera or some other useful modules and can be developed more further to reach some areas unreachable by human.

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Design of Six Legged Spider Robot and Evolving Walking Algorithms

Cited by 18 publications

References 3 publications

Modelling and Analysis of Hexapod walking Robot

Modelling and Analysis of Hexapod walking Robot

Development of Hexapod Robot with Computer Vision

Tilted Capable Quadruped Spider Robot

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