Hexapod robot kinematics modeling and tripod gait design based on the foot end trajectory

Sun, Jianbo; Ren, Jie; Wang, Binrui; Chen, Dijian

doi:10.1109/robio.2017.8324813

Cited by 17 publications

(2 citation statements)

References 6 publications

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“…where T is the total time of each step; a is a quantity, which represents that the single leg is completely in the support phase during a steps in a walking cycle. The time sequence diagram of the robot walking forward in the general tripod gait is shown in Figure 5a [32].…”

Section: Increase Of the Duty Factormentioning

confidence: 99%

Straight Gait Research of a Small Electric Hexapod Robot

et al. 2021

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Gait is an important research content of hexapod robots. To better improve the motion performance of hexapod robots, many researchers have adopted some high-cost sensors or complex gait control algorithms. This paper studies the straight gait of a small electric hexapod robot with a low cost, which can be used in daily life. The strategy of “increasing duty factor” is put forward in the gait planning, which aims to reduce foot sliding and attitude fluctuation in robot motion. The straight gaits of the robot include tripod gait, quadrangular gait, and pentagonal gait, which can be described conveniently by discretization and a time sequence diagram. In order to facilitate the user to control the robot to achieve all kinds of motion, an online gait transformation algorithm based on the adjustment of foot positions is proposed. In addition, according to the feedback of the actual attitude information, a yaw angle correction algorithm based on kinematics analysis and PD controller is designed to reduce the motion error of the robot. The experiments show that the designed gait planning scheme and control algorithm are effective, and the robot can achieve the expected motion. The RMSE of the row, pitch, and yaw angle was reduced by 35%, 25%, and 12%, respectively, using the “increasing duty factor” strategy, and the yaw angle was limited in the range −3°~3° using the yaw angle correction algorithm. Finally, the comparison with related works and the limitations are discussed.

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Section: Increase Of the Duty Factormentioning

confidence: 99%

Straight Gait Research of a Small Electric Hexapod Robot

et al. 2021

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“…Saranli et al 37 proposed the RHex hexapod robot, which is equipped with six actuators and the robot has a height of 0.53 m, width of 0.2 m, length 0.15 m, and weight of 7 kg. Sun et al 38 proposed a hexapod robot with each leg has three revolute joints three DOFs, However, the robot has a height of 0.065 m, width of 0.12 m, length 0.298 m, and weight of 5.64 kg. C ˇı´zˇek et al 3 proposed the HAntr hexapod robot, which has four DOFs per leg and physical dimensions of 0.5 m in height, 0.5 m in width, 0.3 m in length, and a weight of 2.9 kg.…”

Section: Introductionmentioning

confidence: 99%

Design and modeling of hexapod robot using telescopic legs connected to pivot joints at the hips

Mohamed,

Quang Le,

Kim

et al. 2023

Proceedings of the Institution of Mechanical Engineers, Part C:

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Hexapod robots are widely used in applications such as search and rescue, exploration, and surveillance due to their improved mobility and stability on uneven terrain. However, conventional hexapod robots typically suffer from issues such as heavy weight and complex design, which limits their effectiveness in certain scenarios. In this paper, we propose a new hexapod robot that addresses the issues of weight and complexity often associated with conventional hexapod robots. Our proposed design uses telescopic legs connected to pivot joints at the hips, resulting in a two-DOFs-leg configuration. The robot’s six legs are aligned with a parallelepiped body, with each leg configured with a revolute joint and a prismatic joint. With a total of twelve degrees of freedom (DOFs), the proposed robot can move in a straight line or turn. Our solution for stabilizing the robot’s horizontally oriented body on uneven terrain, using analytical kinematics, inverse kinematics, and geometric analysis, is a valuable contribution. Additionally, we present simulation of path generation and gait design for various inclined planes and stairs using a virtual prototype modeled in MATLAB/Simulink Simscape Multibody. The results of our simulated and physical prototype experiments demonstrate that the proposed design and body control algorithm effectively maintain the orientation of the robot’s body usually stable while it moves on different types of surfaces. Overall, our proposed hexapod robot using telescopic legs offers a promising solution for achieving improved mobility and stability on uneven terrain, with reduced weight and complexity compared to conventional hexapod robots.

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