Walking Hexapod Robot in Disaster Recovery: Developing Algorithm for Terrain Negotiation and Navigation

Billah, Md. Masum; Ahmed, Mohiuddin; Farhana, Soheli

doi:10.5772/9437

Cited by 16 publications

(5 citation statements)

References 14 publications

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“…6; the numbers adjacent to the legs in the body diagram correspond to time points on the graph. The leg coordination of walking spiders appears to be quite regular too and is described by the so-called tripod gait (Ahmed et al, 2009).…”

Section: Methodsmentioning

confidence: 99%

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A Novel Navigation Algorithm for Hexagonal Hexapod Robot

Ahmed¹,

Khan²,

Billah³

et al. 2010

American Journal of Engineering and Applied Sciences

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Problem statement: Wheeled robots are not very well suited for navigation over uneven terrains. Hexapod robots have some advantages over wheeled robots when negotiating and navigating on rugged terrain. Approach: Different gaits of hexapods can be developed for different kinds of locomotion and obstacle avoidance. Results: In this research a novel algorithm has been developed for hexapod robots navigation. Conclusion: Implementation of the developed algorithm on a hexapod prototype showed desirable performance in terms of stable navigation with simultaneous gait transition over different terrains

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Section: Methodsmentioning

confidence: 99%

“…7. Stepping patterns of swing movements for wave gait (Ahmed et al, 2009) Stride length: The maximum stride length for a hexagonal model is equal to 1 max 2 r . r max >P achieve a greater stride length for a hexagonal hexapod robot.…”

Section: Methodsmentioning

confidence: 99%

A Novel Navigation Algorithm for Hexagonal Hexapod Robot

Ahmed¹,

Khan²,

Billah³

et al. 2010

American Journal of Engineering and Applied Sciences

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“…Inspirasi yang digunakan merupakan contoh paling umum untuk diadopsi, telah diteliti secara etologis (studi ilmiah tentang perilaku hewan), secara neurofisiologis (studi fungsi sistem saraf), dan secara ekstensif dipelajari oleh orang lain sebelumnya. Robot hexapod mempunyai kecepatan tinggi dari pada robot quadruped saat menggunakan statically stable gait [9].…”

Section: A Sistem Mekanikunclassified

Telekontrol Hexapod Spy Robot Menggunakan Wifi Berbasis Web Server

2020

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Evakuasi korban sangat sulit pada musibah reruntuhan bangunan atau akibat terkena bencana alam. Pada penelitian ini bertujuan membuat prototipe robot hexapod dengan rancangan sistem monitor dan kontrol pergerakan robot melalui web server agar dapat membantu proses mencari korban. Dalam web server, user dapat melihat sesuatu yang terlihat di depan robot. Robot juga mendeteksi wajah manusia dengan algoritma. Algoritma yang digunakan adalah algoritma PoseNet yang dapat mendeteksi wajah manusia berbagai arah. Untuk gerak robot peneliti menggunakan algoritma tripod gait yang memiliki kestabilan yang baik. Sedangkan, untuk hasil capture gambar dapat disimpan melalui google drive. Pada saat akan dikirim keluaran diberi keamanan menggunakan TLS/SSL. Hasil dari pengujian algoritma Posenet menunjukkan apabila wajah terdeteksi dengan sudut -90° sampai +90° dan jarak wajah dengan kamera di ukur mulai 10 cm – 2,5m, maka tingkat akurasi mencapai 95,39%. Untuk hasil algoritma tripod gait yang digunakan menunjukkan robot dapat stabil berjalan pada bidang datar. Sedangkan, hasil uji keamanan TLS/SSL menunjukkan hasil gambar yang dikirim dapat dienkripsi sehingga terhindar dari sniffing. Mekanisme kerja sistem monitor dan kontrol pergerakan robot hexapod SPY UMM berjalan sesuai dengan perancangan sistem karena robot dapat dikontrol oleh user melalui web server dan robot dapat mendeteksi mendeteksi wajah manusia.

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“…The surroundings concerned are harsh and hazardous terrains, and the malfunction rate is high. Thus, it may need to use robots instead of human for that kind of mission (Saitta et al, 2009; Wang et al, 2010; Ahmed et al, 2010). Legged robots have a wide range of applications and are used for many tasks that cannot be accomplished by wheeled ones.…”

Section: Introductionmentioning

confidence: 99%

Alternative Gaits for Multiped Robots with Leg Failures to Retain Maneuverability

Mostafa

Tsai

Her

2010

International Journal of Advanced Robotic Systems

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In modern day, from planetary exploration, disaster response to antiterrorism mission multiped robot has become the major tool. Smart robot with effective gait plan may play a significant role in such missions. But if a leg is injured, it is not possible to repair in this kind of mission. Then robot needs some alternative strategies to complete its mission. This paper proposes a removable sliding leg approach to solve this problem. A fault leg can be detaches and other legs can be slide to better position by the command of operator to get optimum alternative gait configuration. Based on leg sequence, stride length, longitudinal stability and efficiency, alternative gaits are evaluated. This paper recommends tables for different gait sequence with progressive efficiency. These tables can provide options for alternative gait and information about certain damaged leg. Moreover, a procedure for a multi-legged robot to complete its mission after serious leg failure is included. By taking the recommended tables and procedure, the multiped Robot can overcome any fault event and maintain stability and efficiency.

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Walking Hexapod Robot in Disaster Recovery: Developing Algorithm for Terrain Negotiation and Navigation

Cited by 16 publications

References 14 publications

A Novel Navigation Algorithm for Hexagonal Hexapod Robot

A Novel Navigation Algorithm for Hexagonal Hexapod Robot

Telekontrol Hexapod Spy Robot Menggunakan Wifi Berbasis Web Server

Alternative Gaits for Multiped Robots with Leg Failures to Retain Maneuverability

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