Energy-based control for a biologically inspired hexapod robot with rolling locomotion

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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“…A.I. technologies have been used for the better examination of the surroundings and smoother motion of the robots on compound surfaces 18) .…”

Section: Recent Growthmentioning

confidence: 99%

Modelling and Analysis of Hexapod walking Robot

Shrivastava¹,

Diwakar²,

Sehgal³

et al. 2022

Evergreen

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“…Japan's Tokyo Institute of Technology developed KUMO-I -the first quadruped in 1976, in the subsequent years the same institute also produced TITAN series quadruped robots based on this study considered in an environment of flat surface, the robot walks steadily and hence mechanical translational system can be used to replace the servo motors at the leg joints [2,3,4,9]. Due to this alteration, the difficulties in control, high cost and heaviness of the system are overcome and make it most suitable for commonplace applications [7,8].To pursue this goal, the earlier research outcomes and theories are utilised to improve the system design and a modified quadruped robot mechanism which can be used for steady walking on a levelled surface is developed with a cam drive [5,6]…”

Section: Introductionmentioning

confidence: 99%

Tetrapod Automaton in the Shamble’s Management with the Fish Eye Lens Pi Cam

Meenakshi*,

Sivaprasad,

Sowndarya

et al. 2020

IJRTE

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Automation Is The Future Technology, Without This Most Of The Technologies Are Implausible. This Paper Is All About The Tetrapod Robot Which Is The Four Legged Robot That Could Be Used In The Shamble’s Management Application. This Robot Has Four Legs For Kinesis. The Motion Of The Legs Is Achieved By The Concept Of Inverse Kinematics. The Servo Motors Are Making The Bot To Drive. The Arduino UNO Is Used To Send Signals. It Has I 2C (Inter Integrated Circuits) Interface. It Has Two Signals. They Are Serial Clock Line Signal And Serial Data Line For Master Slave Communication. The Main Motive Of This Bot Is To Make It Walk Under The Disaster Areas Where Human Intervention Is Challenging. It Takes Live Images And Streams Video In The Disaster Areas. The Image Capturing And Video Streaming Is Achieved Using Raspberry Pi Fisheye Lens Camera Module. It Provides A Slight Image Difference In The Field Of View Compared To The Usage Of Normal Lens. The Resolution Of This Camera Is 5megapixels.The Advantage Of Using This Bot Is For Implementing It Under Impossible Human Intervention. It Moves In Any Bleak Surfaces Which The Maneuvered Robot Cannot Get The Stability. The Legged Robot Gets Its Stability Due To The Arrangement Of Legs With The Chassis Taking The Center Of Gravity Into Consideration.

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“…15 By changing the length of the links with motors, the leg can generate different gaits with only one driving motor. Nemoto et al 16 developed a mathematical model for the rolling locomotion of a kind of wheel spider which can be found in the Namib Desert of Southern Africa, and the control of the robotic counterpart was presented based on an energy consumption approach 17 to control the rolling locomotion on the horizontal plane with a hexapod robot. Chen et al 18 proposed a leg-wheel transformable mobile robot.…”

Section: Introductionmentioning

confidence: 99%

Scorpio

Tan

Elara

Elangovan

2016

International Journal of Advanced Robotic Systems

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This paper presents the bio-inspired design, realization, and validation of a reconfigurable rolling-crawling robot. The developed platform is able to mimic Cebrennus rechenbergi, a species of huntsman spider which can crawl and roll using only its legs. Mechanical design, control architecture, and actuator selection strategies targeting platform miniaturization are presented in detail. The navigating and autonomous capabilities of the robot are examined in two facets: (1) recovery behaviors where a robot in a previously unknown state after a fall recovers autonomously to a known standing gait state using Inertial Measurement Unit (IMU); and (2) terrain perception where the robot is capable of autonomously assessing the characteristics of the terrain and chooses the appropriate morphology and locomotion mode in relation to the perceived terrain.

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Energy-based control for a biologically inspired hexapod robot with rolling locomotion

Cited by 10 publications

References 25 publications

Modelling and Analysis of Hexapod walking Robot

Modelling and Analysis of Hexapod walking Robot

Tetrapod Automaton in the Shamble’s Management with the Fish Eye Lens Pi Cam

Scorpio

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