scholarly journals Locomotion Analysis of Hexapod Robot

10.5772/8822 ◽  
2010 ◽  
Author(s):  
Xilun Ding ◽  
Zhiying Wang ◽  
Alberto Rovetta ◽  
J.M. Zhu
Keyword(s):  
Hexapod Robot ◽  
Locomotion Analysis

A Cockroach-Like Hexapod Robot for Natural Terrain Locomotion

1997 ◽  
Author(s):  
Randall D. Beer ◽  
Roger Quinn ◽  
Roy Ritzmann ◽  
Hillel Chiel
Keyword(s):  
Hexapod Robot ◽  
Natural Terrain

scholarly journals Getting grip in changing environments: the effect of friction anisotropy inversion on robot locomotion

2021 ◽  
Vol 127 (5) ◽  
Author(s):  
Halvor T. Tramsen ◽  
Lars Heepe ◽  
Jettanan Homchanthanakul ◽  
Florentin Wörgötter ◽  
Stanislav N. Gorb ◽  
...  
Keyword(s):  
Energy Efficient ◽  
Legged Locomotion ◽  
Hexapod Robot ◽  
Friction Anisotropy ◽  
Anisotropic Friction ◽  
Walking Behavior ◽  
Robot Locomotion ◽  
Computational Morphology ◽  
Anisotropic Structures ◽  
Walking Environment

AbstractLegged locomotion of robots can be greatly improved by bioinspired tribological structures and by applying the principles of computational morphology to achieve fast and energy-efficient walking. In a previous research, we mounted shark skin on the belly of a hexapod robot to show that the passive anisotropic friction properties of this structure enhance locomotion efficiency, resulting in a stronger grip on varying walking surfaces. This study builds upon these results by using a previously investigated sawtooth structure as a model surface on a legged robot to systematically examine the influences of different material and surface properties on the resulting friction coefficients and the walking behavior of the robot. By employing different surfaces and by varying the stiffness and orientation of the anisotropic structures, we conclude that with having prior knowledge about the walking environment in combination with the tribological properties of these structures, we can greatly improve the robot’s locomotion efficiency.

scholarly journals Terrain classification and adaptive locomotion for a hexapod robot Qingzhui

2021 ◽  
Author(s):  
Yue Zhao ◽  
Feng Gao ◽  
Qiao Sun ◽  
Yunpeng Yin
Keyword(s):  
Legged Robots ◽  
Measurement Unit ◽  
Support Vector ◽  
Hexapod Robot ◽  
Terrain Classification ◽  
Adaptive Locomotion ◽  
Joint Torques ◽  
Active Compliance ◽  
Outdoor Environments ◽  
The Stability

AbstractLegged robots have potential advantages in mobility compared with wheeled robots in outdoor environments. The knowledge of various ground properties and adaptive locomotion based on different surface materials plays an important role in improving the stability of legged robots. A terrain classification and adaptive locomotion method for a hexapod robot named Qingzhui is proposed in this paper. First, a force-based terrain classification method is suggested. Ground contact force is calculated by collecting joint torques and inertial measurement unit information. Ground substrates are classified with the feature vector extracted from the collected data using the support vector machine algorithm. Then, an adaptive locomotion on different ground properties is proposed. The dynamic alternating tripod trotting gait is developed to control the robot, and the parameters of active compliance control change with the terrain. Finally, the method is integrated on a hexapod robot and tested by real experiments. Our method is shown effective for the hexapod robot to walk on concrete, wood, grass, and foam. The strategies and experimental results can be a valuable reference for other legged robots applied in outdoor environments.

Introducing MantisBot: Hexapod robot controlled by a high-fidelity, real-time neural simulation

2015 ◽  
Author(s):  
Nicholas S. Szczecinski ◽  
David M. Chrzanowski ◽  
David W. Cofer ◽  
Andrea S. Terrasi ◽  
David R. Moore ◽  
...  
Keyword(s):  
Real Time ◽  
High Fidelity ◽  
Hexapod Robot ◽  
Neural Simulation

3D PRINTED HEXAPOD ROBOT ACTUATED BY SHAPE MEMORY ALLOY SPRINGS: DESIGN AND PERFORMANCE ANALYSIS

2021 ◽  
Author(s):  
Edilberto Alves de Abrantes Júnior ◽  
Augusto Figueiredo ◽  
Carlos Jose de Araujo ◽  
Raimundo Duarte
Keyword(s):  
Performance Analysis ◽  
Shape Memory Alloy ◽  
Shape Memory ◽  
Hexapod Robot ◽  
3D Printed ◽  
And Performance
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