Static Balancing of Wheeled-legged Hexapod Robots

Orozco-Magdaleno, Ernesto Christian; Cafolla, Daniele; Castillo-Castañeda, Eduardo; Carbone, Giuseppe

doi:10.3390/robotics9020023

Cited by 22 publications

(5 citation statements)

References 26 publications

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“…If not, then the robot will carry out the process of walking straight ahead until the sensor detects an uneven surface. After that, it goes into the research of controlling the movement of the hexapod robot for uneven surfaces, moving the leg positions 0,2,4 to the top and forward positions together, then moving the leg positions 0,2,4 to the bottom and forward positions together, movement foot position 0,2,4 to the back position, Move the foot position 1,3,5 to the top and forward position together, Then move the foot position 1,3,5 to the bottom and forward position together, Move the foot position 1, 3.5 to the rear position then the process is repeated until the process is complete [18]. Algorithm flow chart is shown in Fig.…”

Section: Algorithmmentioning

confidence: 99%

Hexapod Robot Movement Control for Uneven Terrain

Prasetio,

Widodo

2023

Control Syst. Optim. Lett.

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Hexapod robot is a robot that has 6 legs with joints or structures that resemble insect legs. This study uses the inverse kinematic method with the aim of finding points and effectors of the robot's legs that will make the robot's legs pass through uneven obstacles such as uneven flor, stairs, bolong-bolong obstacles, bolong-non-obvious obstacles and non-objective obstacles. This inverse kinematic is accessed with the Open Cm 9.04 microcontroller to control the dynamixel servo on the robot leg. The results of testing the robot's movement using inverse kinematics have succeeded in overcoming uneven obstacles using the inverse kinematic method. For testing the stability of the robot it is still not stable enough because the mechanical part of the foot is still not precise. The conclusion of the study, from 6 trials that average and uneven obstacles were obtained in the range of 85% - 95%. The inverse kinematic method using a proximity sensor on the front of the robot, the average success that can be obtained is in the range of 80% - 90%.

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Section: Algorithmmentioning

confidence: 99%

Hexapod Robot Movement Control for Uneven Terrain

Prasetio,

Widodo

2023

Control Syst. Optim. Lett.

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“…Making dynamics-based efforts is also an effective way to maintain the stable base [21][22][23]. As seen in the work [24], an automatic-balance control algorithm is proposed, which optimizes the ground forces acting on the excavators to achieve the smooth operation of the body while moving on uneven terrain.…”

Section: Introductionmentioning

confidence: 99%

Attitude-Oriented Stability Control with Adaptive Impedance Control for a Wheeled Robotic System on Rough Terrain

et al. 2023

Machines

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Base stability for a wheeled robot while driving over rough terrain is a challenging issue. This paper proposes a novel base-stability control framework, consisting of an AVIC (adaptive variable-impedance control), AVIC-based tracking controller, and a THV (terrain height variation) and AC (attitude control) AC-based controller to stabilize the base on rough terrain. The AVIC-based controller aims to track the desired trajectory of the robot base while suppressing lumped disturbance, including system uncertainties in the internal dynamics and unknown external disturbance. The THV-based controller is utilized as a feedforward controller to improve posture tracking performance in order to achieve a horizontal posture. The AC-based controller is employed to maintain the horizontal posture of the base. The effectiveness and robustness of the proposed controllers are validated by a series of numerical trials, and the results are evaluated.

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“…Usually this problem is related with the pose of the robot's center of mass, which can be addressed using different mathematical techniques. The paper [22] proposes a new practical technique for balancing wheeled-legged hexapod robots, where a Biodex Balance System model SD (for static and dynamic) is used to obtain the effective position of the center of mass, thus it can be recalculated to its optimal position. Experimental tests are carried out to evaluate the effectiveness of this technique and modify and improve the position of hexapod robots' center of mass.…”

Section: Introductionmentioning

confidence: 99%