Tripod gaits planning and kinematics analysis of a hexapod robot

Duan, X.H.; Chen, Weihai; Yu, Shuai; Liu, Jingmeng

doi:10.1109/icca.2009.5410582

Cited by 33 publications

(24 citation statements)

References 11 publications

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“…Leg dimensions are as follows: l 1 = 80 mm, l 2 = 106 mm and l 3 = 68 mm (see figure 2). Total weight of the robot is around 1.5 kg, consisting mostly of eighteen actuators, each of which weights 55 g. The analysis of a robot's whole kinematic model can be simplified by taking each leg as an individual system [16]. The leg design is very similar to a bug's leg, as explained in detail in paper [19].…”

Section: Hexapod Robot Description and Leg Kinematicsmentioning

confidence: 99%

“…Even though the experimental results showed minimum slippage, it is still obvious that the deviation is not fully avoided. It is proposed by several scientists [15,16] that leg trajectory error might occur due to poorly developed inverse kinematics model. Legged robots are very complex systems consisting of large number of actuators, joints and other elements.…”

Section: Hexapod Robot Description and Leg Kinematicsmentioning

confidence: 99%

“…The analysis of whole robots kinematic model can be simplified by taking each leg as an individual system [16]. Leg design is very similar to a bugs legs, explained in detail in paper [19].…”

Section: Hexapod Robot Description and Leg Kinematicsmentioning

confidence: 99%

“…It has been proposed by several scientists [15,16] that leg trajectory errors might occur due to a poorly developed inverse-kinematics model. Robots with legs are very complex systems consisting of a large number of actuators, joints and other elements.…”

Section: Introductionmentioning

confidence: 99%

See 3 more Smart Citations

Minimizing Hexapod Robot Foot Deviations Using Multilayer Perceptron

Valaitis

Luneckas

et al. 2015

Int. j. adv. robot. syst.

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Rough-terrain traversability is one of the most valuable characteristics of walking robots. Even despite their slower speeds and more complex control algorithms, walking robots have far wider usability than wheeled or tracked robots. However, efficient movement over irregular surfaces can only be achieved by eliminating all possible difficulties, which in many cases are caused by a high number of degrees of freedom, feet slippage, frictions and inertias between different robot parts or even badly developed inverse kinematics (IK). In this paper we address the hexapod robot-foot deviation problem. We compare the foot-positioning accuracy of unconfigured inverse kinematics and Multilayer Perceptron-based (MLP) methods via theory, computer modelling and experiments on a physical robot. Using MLP-based methods, we were able to significantly decrease deviations while reaching desired positions with the hexapod's foot. Furthermore, this method is able to compensate for deviations of the robot arising from any possible reason.

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Section: Hexapod Robot Description and Leg Kinematicsmentioning

confidence: 99%

Section: Hexapod Robot Description and Leg Kinematicsmentioning

confidence: 99%

Section: Hexapod Robot Description and Leg Kinematicsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Minimizing Hexapod Robot Foot Deviations Using Multilayer Perceptron

Valaitis

Luneckas

et al. 2015

Int. j. adv. robot. syst.

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show abstract

“…If a three-dimensional reaction force vector is considered on each ground leg, the problem of feet forces' distributions becomes indeterminate during the walking, which has to be solved using an optimization criterion, e.g., optimal feet forces' distributions [11][12][13][14]. When the feet forces of the legs are determined, Lagrange-Euler formulation is used to calculate the payload-weight ratio of the robot.…”

Section: Introductionmentioning

confidence: 99%

The design, control and experiment of a high payload-weight hexapod robot

Huang¹,

Xu²,

Wang

et al. 2014

2014 IEEE International Conference on Robotics and Biomimetics (ROBIO 2014)

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Compared with other types of legged robot, a hexapod robot is much more flexible for non-structured environment. In this paper, we developed a hexapod robot with high payload-weight ratio. Inspired by an ant, which can carry things much heavier than itself, we defined a design criterion for a hexapod robot, considering the maximal payload mass and its own mass. We called it payload-weight ratio, i.e. the ratio of the maximal payload mass and the robot mass. Based on the definition above, we derived the objective function to be optimized from the view of dynamic behaviors. Given the constraint conditions, including the drive torque of each joint, and the workspace of each leg, the kinematic structure and parameters were optimized. Then, a robot prototype was manufactured using the optimized results. The control system, including an embedded controller and a human-robot interaction system based on the ROS (Robot Operating System) was also developed. At last, the experiments of typical cases were conducted to verified the design and control of the high payload-weight hexapod robot.

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Evolutionary Function Approximation for Gait Generation on Legged Robots

Silva¹,

Solís²

2015

Nature-Inspired Computing for Control Systems

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Tripod gaits planning and kinematics analysis of a hexapod robot

Cited by 33 publications

References 11 publications

Minimizing Hexapod Robot Foot Deviations Using Multilayer Perceptron

Minimizing Hexapod Robot Foot Deviations Using Multilayer Perceptron

The design, control and experiment of a high payload-weight hexapod robot

Evolutionary Function Approximation for Gait Generation on Legged Robots

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