Grid-Based Motion Planning Using Advanced Motions for Hexapod Robots

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

doi:10.1109/iros.2018.8593964

Cited by 12 publications

(5 citation statements)

References 10 publications

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“…The first advantage is that legged robot has a strong ability to step over obstacles or climb steep terrain. The second one is the legged robot can do some advanced motions like across the cracks or walk with the help of walls [10] . When the robot needs to work in a soft terrain, the legged robot can move normally without being as difficult to work as the wheeled robot, which is the third advantage.…”

Section: Background and Motivationmentioning

confidence: 99%

“…The genetic algorithm (GA) [27] , search algorithm [28] , Ant Colony Optimization method [29] are the general methods of robot global path planning. The global path planning problem for legged robots consists of two part s [10] , the robot body global path planning and the robot foothold global planning algorithm. More relevant information will be introduced in section 2.1.2.…”

Section: Overview Of Legged Robots Path Planningmentioning

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 and Motivationmentioning

confidence: 99%

Section: Overview Of Legged Robots Path Planningmentioning

confidence: 99%

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

2022

AJCIS

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“…The lumped body width and body mass were assumed according to small-scale hexapods. 7 A conservative was selected given the high friction observed from using rubber feet. 20 The three parameters of interest in this study are the overall width, l ow , lumped body width, l w and link ratio, l 2 : l 3 .…”

Section: Force Distribution Parametersmentioning

confidence: 99%

“…This article is concerned with non-planar hexapod manoeuvres, which will be termed advanced motions and the scenarios shown in Figure 1 will be considered in detail. 7 The movement shown in Figure 1(a) is termed wall walking and that in Figure 1(b), chimney walking. Such manoeuvres have not previously been considered in the literature.…”

Section: Introductionmentioning

confidence: 99%

Advanced motions for hexapods

Cheah¹,

Khalili²,

Arvin³

et al. 2019

International Journal of Advanced Robotic Systems

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Advanced motions, which utilize footholds on walls, offer considerably more opportunities for hexapods in accessing confined environment. However, there has been no research on the practical application of such motions on a hexapod. These motions are kinematically viable for the standard hexapod design with three degrees of freedom per leg but the joint requirements have yet to be identified. This article presents the motion analysis for two forms of advanced motion, wall walking and chimney walking, to study the joint requirement for executing such motions. The analysis has been verified through a series of experiments demonstrating that a hexapod with a standard design is capable of executing advanced motions.

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“…PID controller is also the most popular techniques which are used in non-linear systems [28]. Many cases of mobile robots have used the PID controller to improve their performance [29]- [36]. In the case of wheeled based mobile robots, the PID controller is easier to implement because they are no need a complex control for actuator movement like a multileg robot.…”

Section: Introductionmentioning

confidence: 99%

Efficient PID Controller based Hexapod Wall Following Robot

Purnama¹,

Sutikno²,

Widodo³

et al. 2019

EECSI

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This paper presents a design of wall following behaviour for hexapod robot based on PID controller. PID controller is proposed here because of its ability to control many cases of non-linear systems. In this case, we proposed a PID controller to improve the speed and stability of hexapod robot movement while following the wall. In this paper, PID controller is used to control the robot legs, by adjusting the value of swing angle during forward or backward movement to maintain the distance between the robot and the wall. The experimental result was verified by implementing the proposed control method into actual prototype of hexapod robot.

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Grid-Based Motion Planning Using Advanced Motions for Hexapod Robots

Cited by 12 publications

References 10 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

Advanced motions for hexapods

Efficient PID Controller based Hexapod Wall Following Robot

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