Dynamics Modeling and Simulation of a Hexapod Robot with a Focus on Trajectory Prediction

Ma, Jian-wei; Ding, Liang; Gao, Haibo; Su, Youfeng; Zhang, Pinjia

doi:10.1007/s10846-023-01839-w

Cited by 2 publications

(1 citation statement)

References 28 publications

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“…Over the few years, the problem of dynamic modeling and analysis of hexapod robots has been studied for estimating the foot–ground interactions and locomotion optimization. Jin et al [1] defined the equations of motion of a heavy-weight hexapod using Kane’s dynamic formulation to study the influence of spring–damper models in the main body’s acceleration, for a regular surface. A similar strategy is proposed by Liu et al [2] for the study of the feet contact forces and the design of active suspension models for the legs in heavy-weight hexapod.…”

Section: Introductionmentioning

confidence: 99%

Development and implementation of a new approach for posture control of a hexapod robot to walk in irregular terrains

Coelho,

Dias,

Lopes

et al. 2023

Robotica

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The adaptability of hexapods for various locomotion tasks, especially in rescue and exploration missions, drives their application. Unlike controlled environments, these robots need to navigate ever-changing terrains, where ground irregularities impact foothold positions and origin shifts in contact forces. This dynamic interaction leads to varying hexapod postures, affecting overall system stability. This study introduces a posture control approach that adjusts the hexapod’s main body orientation and height based on terrain topology. The strategy estimates ground slope using limb positions, thereby calculating novel limb trajectories to modify the hexapod’s angular position. Adjusting the hexapod’s height, based on the calculated slope, further enhances main body stability. The proposed methodology is implemented and evaluated on the ATHENA hexapod (All-Terrain Hexapod for Environment Adaptability). Control feasibility is assessed through dynamic analysis of the hexapod’s multibody model on irregular surfaces, using computational simulations in Gazebo software. Environmental complexity’s impact on hexapod stability is tested on both a ramp and uneven terrain. Independent analyses for each scenario evaluate the controller’s effect on roll and pitch angular velocities, as well as height variations. Results demonstrate the strategy’s suitability for both environments, significantly enhancing posture stability.

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Section: Introductionmentioning

confidence: 99%

Development and implementation of a new approach for posture control of a hexapod robot to walk in irregular terrains

Coelho,

Dias,

Lopes

et al. 2023

Robotica

View full text Add to dashboard Cite

show abstract

Research on stability of modular multi-legged robots with non-isomorphic configurations

Liu,

Xue

et al. 2024

Transactions of the Institute of Measurement and Control

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Modular robots can be reconfigured and deformed into multiple non-isomorphic configurations. Different configurations of robots exhibit diverse motion and stability characteristics. Therefore, the stability of robots with different configurations is essential to improve their motion control robustness and expand their application range. In this article, a new reconfigurable modular multi-legged robot is designed. To analyze the stability of the various typical non-isomorphic configurations of modular robots, a hybrid discrimination method combining the static stability margin-force angle stability margin-stability cone is proposed. By conducting simulation experiments on the static minimum tilt angle of robots in tilt, pitched, and yawed terrains, as well as their combinations, and evaluating the performance index of tipping in the presence of external force interference, the effectiveness of the proposed method can be proved. Furthermore, the movement experiments of the robot in irregular terrain under the quadruped configuration and hexapod configuration were carried out, it is proven that the robot under different configurations can maintain the stability of the structure.

show abstract

Dynamics Modeling and Simulation of a Hexapod Robot with a Focus on Trajectory Prediction

Cited by 2 publications

References 28 publications

Development and implementation of a new approach for posture control of a hexapod robot to walk in irregular terrains

Development and implementation of a new approach for posture control of a hexapod robot to walk in irregular terrains

Research on stability of modular multi-legged robots with non-isomorphic configurations

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