Robotics Modules and hexapod robot research papers




Inertial navigation and visual line following for a dynamical hexapod robot.
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ABSTRACT This paper presents preliminary development of autonomous sensor-guided behaviors for a six-legged dynamical robot (RI-iex). These behaviors represent the first exteroceptive closed-loop locomotion srrategiesfor this system. Simple motion models for

Dynamic locomotion with a hexapod robot
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This thesis concerns the design of dynamically capable hexapedal running controllers as well as the development of RHex, a hexapedal robot that is capable of locomoting over terrain approaching the complexity of the natural landscape and breaks the speed record

Simulation and control of an underwater hexapod robot
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Abstract AQUA is an underwater hexapod robot which uses its paddles to propel itself and to control its orientation. The use of oscillating paddles for propulsion and control represented a novel and challenging problem, which motivated the need for a simulation of the motion

Locomotion analysis of hexapod robot
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Multi-legged robots display significant advantages with respect to wheeled ones for walking over rough terrain because they do not need continuous contact with the ground. In Multi- legged robots, hexapod robots, mechanical vehicles that walk on six legs, have attracted

Stiquito: A Small, Simple, Inexpensive Hexapod Robot Part 1. Locomotion and Hard-Wired Control
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Computer Science Department Indiana University Bloomington, Indiana 47405 80 figures illustrate the construction of a six-legged robot that walks up to 10 centimeters per minute and carries up to 50 grams. Nitinol actuator wires drive the robot's

Integrated motion planning for a hexapod robot walking on rough terrain
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ABSTRACT Missions of walking robots in distant areas require use of the teleoperation mode. However, the capabilities of a human operator to sense the terrain and to control the robot are limited. Thus, a walking robot should have enough autonomy to take an advantage of

Implementation and experimental validation of an autonomous hexapod robot
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ABSTRACT This paper describes the implementation of a bio-inspired six legged robot: Gregor I. Both structure and locomotion control are inspired by biological observations in cockroaches. Robot mechanics attempts to emulate main structural features in

Learning about control of legged locomotion using a hexapod robot with compliant pneumatic actuators
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HEXAPOD ROBOT WITH COMPLIANT PNEUMATIC ACTUATORS by GABRIEL MARTIN NELSON Figure 4: Protobot is an 18 DOF pneumatically actuated hexapod robot modeled after Periplaneta americana. .13

Adaptive foothold selection for a hexapod robot walking on rough terrain
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ABSTRACT This paper introduces an adaptive foothold selection algorithm for a legged robot walking on a rough terrain. The proposed algorithm searches for the best footholds to prevent slippages. It uses a known grid map of the surrounding terrain and a polynomial-

In situ self-reconfiguration of hexapod robot OSCAR using biologically inspired approaches
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A highly desirable feature for next generation robots operating on terrestrial or sustainable autonomic systems enveloping the self-management and self-x

Walk Optimization for Hexapod Walking Robot
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ABSTRACT Our research is a part of the process of building the new walking hexapod robot. The marginal parameters affecting the quality of robot drive is discussed in detail in this article. Such parameters are the following: the division of the arm's pathway; the This paper describes the process of evolving a hexapod robot walking gait within a simulated software environment. Initially, a 3D mathematical model of the robot was created using MATLAB, simulating full motion of each robot's six legs. Each leg has three degrees

Improving the navigability of a hexapod robot using a fault-tolerant adaptive gait
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Abstract This paper encompasses a study on the development of a walking gait for fault tolerant locomotion in unstructured environments. The fault tolerant gait for adaptive locomotion fulfills stability conditions in opposition to a fault (locked joints or sensor failure

Design and simulation of cassino hexapod robot
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ABSTRACT In this paper the Cassino Hexapod Robot is presented by discussing its design features and operation performance through simulation results. The analysis ha been completed by experimental tests on a built prototype. This paper is based on student's

Development of hexapod robot with manoeuvrable wheel
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Abstract The necessity to utilize the usage of the robot cannot be denied since there are a lot of natural disasters occur everywhere around the world. The robot that can be used in this situation may be a remotely controlled by human or moves autonomously. Hexapod robot

System identification, using vision-based localisation, for a hexapod robot
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Abstract This Masters Thesis consists of two broad sections. The first documents the vision- based localisation algorithms that I have implemented. The second section describes the process and the results of system identification for RHex. All of the localisation algorithms

Autonomous Hexapod Walker Robot Szabad (ka)
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ABSTRACT Szabad (ka) is a hexapod walker constructed at the Polytechnical Engineering College VTS Subotica to test and help implementing algorithms, designed by the Hungarian science institute called KFKI, and our college. These algorithms are

A Hexapod Robot and Novel Training Approach for Artificial Neural Networks
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Mobile robots are finding their way into a number of tasks that are unfit for humans. Such tasks include those which are extremely repetitive, require great accuracy, or need to be performed in hazardous environments. For these reasons many wheeled vehicles have

Terrain classification using a hexapod robot
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Abstract The effectiveness of a legged robot's gait is highly dependent on the ground cover of the terrain the robot is traversing. It is therefore advantageous for a legged robot to adapt its behaviour to suit the environment. In order to achieve this, the robot must be able to

Virtual model control of a hexapod walking robot
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Abstract Since robots are typically designed with an individual actuator at each joint, the control of these systems is often di cult and non-intuitive. This thesis explains a more intuitive control scheme called Virtual Model Control. This thesis also demonstrates the simplicity

Development of a hexapod robot focusing on leg compliance
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Abstract In this paper, a hexapod walking robot with a structural compliance mechanism is presented. In general, conventional walking robots have less mobility, while they are operated in particular rough terrain. One of the main reasons is that their body structures

Attitude analog cnn control for a hexapod robot
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ABSTRACT In this paper the core of the control of a biologically inspired walking robot is presented. An analog distributed system acts as Central Pattern Generator for the locomotion control, while the attitude control is performed by integrating in the central Remote controlled robotic vehicles for different tele-operation tasks have become a common instrument for inspection and search-and-rescue (SAR) applications. These vehicles are usually tracked or wheeled mobile robots controlled by an operator by means of (several)

Open source model of the AMRU5 hexapod robot
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ABSTRACT The walking robot AMRU5 is the result of collaborative work of RMA (Royal Military Academy), ULB (Universit libre de Bruxelles) and VUB (Vrije Universiteit Brussel). It is an hexapod robot whose each leg has 3 degrees of freedom and corresponds to a

Inverse Kinematic Analysis of a Hexapod Spider-like Mobile Robot
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Abstract. In this article a proper mechanism for a hexapod spider-like mobile robot is presented. By using of geometrical method, inverse kinematic of the robot is analyzed. In further via differential kinematic, velocity of the joint variables is specified. Then inverse

Evolving Gaits for the Lynxmotion Hexapod II Robot
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ABSTRACT Gait generation for hexapod robots can be accomplished with a two-phase process, whereby leg cycles that effectively provide thrust are learned and then the proper selection and coordination of these cycles needed to produce a gait are learned. Genetic

Kinematics of a hexapod modular robot
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Abstract. Conventional mobile robotics is unable yet to offer locomotion solutions for overcoming real world obstacles. For instance, in a land collapsing situation, a wheeled robot has as much difficulties for climbing ladders as for crossing holes along its way.

Motion Planning Algorithms for Stratified Kinematic Systems with Application to the Hexapod Robot.
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Abstract The paper addresses the motion planning problem of legged robots. Kinematic models of these robots are stratified, ie the equations of motion differ on different strata. An improved version of the motion planning algorithm proposed in the literature is compared

Electro-Mechanical Control of Hexapod Robot Locomotion
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ABSTRACT A nonlinear closed lattice or ring is proposed as a central pattern generator (CPG) for controlling hexapodal robots. We show that the ring composed of six anharmonically interacting units coupled to the limb actuators permits to reproduce typical hexapod gaits.

ATHLETE's Feet: Multi-Resolution Planning for a Hexapod Robot
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Abstract ATHLETE is a large six-legged tele-operated robot. Each foot is a wheel; travel can be achieved by walking, rolling, or some combination of the two. Operators control ATHLETE by selecting parameterized commands from a command dictionary. While rolling can be

Hexapod Walking Robot for Agricultural field (I)-Mechanism of leg and gait control
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ABSTRACT The bio-production of the orchard and the ravine part is done in the inclination ground and unleveled land. The hexapod walking robot, which is stabilized in these fields, is suitable for many production works. This study had aimed to develop hexapod walking

Dynamics of the Hexapod parallel robot
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Recursive matrix relations in kinematics and dynamics of the Hexapod parallel robot are established in this paper. Controlled by six forces, the parallel manipulator prototype is a space six-degrees-of-freedom mechanical system with six fixed-length legs connecting to

ADAPTIVE LOCOMOTION FOR A HEXAGONAL HEXAPOD ROBOT BASED ON A HIERARCHICAL MARKOV DECISION PROCESS
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This article describes a probabilistic control model based on Markov Decision Processes for the locomotion of a hexagonal hexapod robot. Uncertainty is naturally taken into account in probabilistic models, resulting in flexible control models that enable a robot to react to both

Visual Perception In Hexapod Robot
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ABSTRACT The purpose of this paper is to explain a real time vision system for position determination and vision guidance to navigate a Hexapod robot on terrain surface. Visual understanding is a rapidly maturing approach to the control of robot manipulators that is

Bio-inspired smart sensors for a hexapod robot
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ABSTRACT EMICAB (Embodied Motion Intelligence for Cognitive, Autonomous Robots) is an EU founded project where a consortium of 4 Universities is working together to integrate smart body mechanics and sensors with intelligent planning and motor behavior in order

INSECT INSPIRED HEXAPOD ROBOT FOR TERRAIN NAVIGATION
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Abstract The aim of this paper is to build a sixlegged walking robot that is capable of basicmobility tasks such as walking forward, backward, rotating in place and raising orlowering the body height. The legs will be of a modular design and will have

Fuzzy Controling of Hexapod Robot Arm with Coreless DC Micromotor
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The research described in the article is a part of the process of building the new walking hexapod robot. There is a great amount of preliminary research necessary in order to create the robot structure, as well as relying on previous research and development experiences. The Systems, Man, and Cybernetics Society is an organization within the framework of the IEEE, with professional interest in the closely interrelated fields of man–machine systems, systems science, systems engineering, and cybernetics. All members of the IEEE are

The Workspace of a Double Hexapod Robot
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ABSTRACT The double hexapod robot ROBEX consists in two staged hexapod platforms– Stewart Gough platforms-combining in a certain measure the advantages of the robots with parallel kinematics and of the serial robots: high accuracy, high stiffness, fast response Abstract The main idea of this work is to merge locomotion based on neural approach of Rexabot robot and real-time wave-based nav- igation in a complex, dynamically changing

Modified Force Distribution Method Based on Explicit Dynamics of a Hexapod Robot
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Abstract This paper presents explicit dynamics of a hexapod robot via explicit dynamic method based on Lagrange approach which derive dynamics equation of a robotic system and reducing required calculations. Foot interaction with the ground is included based on

Fusion Algorithm for Multi-Gait of Hexapod Bionic Rescue Robot
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From the angle of bionics, hexapod robot's gait algorithm which is based on hexapod cockroach is studied. Hexapod robot gait analysis Hexapod robot has three common gaits [3], which respectively are three-foot gait, four-foot gait and five-foot gait.

Research of Hexapod Robot Motion in Irregular Terrain
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The major advantage of the Hexapod robot is that it can navigate over irregular terrain maintaining static stability at any speed. However teaching the robot to adapt to its surroundings is not an easy task. Hexapod can use four basic gaits: tripod, wave, ripple and biped . It can be

Dynamical Gaits and Energy Efficiency in a Hexapod Robot Haldun Komsuodglu § Edward Z. Moore Ulu§c Saranl § Benjamin H. Brown% hkomsuog umich.
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ABSTRACT We wish to improve the locomotion efficiency ofour hexapod robot, RHex, in order to achieve longer operation times at reasonable speeds. Biomechanists' observations and engineering intuition suggest that locomotion efficiency may increase as the gait becomes

Matlab Simulator for Gravitational Stability Analysis of a Hexapod Robot
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ABSTRACT In this paper the authors present a software program to simulate hexapod robot stability in gravitational field for a certain configuration of legs using Matlab software package. The simulation software was created using geometrical modelling based on

MODELING A HEXAPOD ROBOT BY MEANS OF CAD TECHNIQUES
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ABSTRACT The main purpose of this work is present the modeling of a hexapod robot using the software AutoCAD, as well as the main characteristics of this type of robot, which represents a typical mobile robot and a useful mechanism for diverse tasks. Keywords:

Development of cm-scale Wall Climbing Hexapod Robot with Claws
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Abstract In this paper, we investigate the slip condition on a vertical wall surface and propose a cm-scale hexapod robot with claws that can climb the vertical wall. Since the volume force such as gravity is proportional to the length cubed and the area force such

Dynamic modeling and control in operationel space of an hexapod robot
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ABSTRACT This paper concerns real-times hexapod robot force control. Based on an operational trajectory planner, a computed torque control for each leg of hexapod robot is presented. This approach takes in to account the real-time force distribution on the robot

GA Optimization of an Hexapod Robot Parameters for Periodic Gaits
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Abstract Different strategies have been adopted for the optimization of legged robots, either during their design and construction phases, or during their operation. Evolutionary strategies are a way to" imitate nature" replicating the process that nature designed for the

Hexa-Quad Transformation Control for Hexapod Robot Based on Support Polygon Pattern
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ABSTRACT This paper presents a leg recongurable technique to optimize the multi-legged robot operation and walking performances. A hexapod-to-quadruped (Hexa-Quad) transformation technique is proposed to optimize hexapod legs on certain situation that

Hexapod Robot Terrain Classification
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Department of Electrical and Computer Systems Engineering Aim: Develop a software system that allows a hexapod robot to classify the terrain it is currently traversing into predefined on the previous three steps. Hexapod Robot Terrain Classification Graeme Best

Zebro Light: Lightweight Mobile Hexapod Robot
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Abstract In this paper, we present a mechanical, electrical and software design for a lightweight, mobile exploration robot that employs the half-circle leg morphology. Due to its small size and weight, the robot is capable of exploring areas where existing walking

Basic Walking Simulations and Gravitational Stability Analysis for a Hexapod Robot Using Matlab
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ABSTRACT In this paper the authors present a software program to simulate hexapod robot stability in gravitational field for a certain configuration of legs and some basic walking simulations using Matlab software package. First the complete kinematical model of the

Mechanical design and preload control of a redundant leg for eliminating backlash on the Flinders Hexapod Robot
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Abstract This thesis investigates the further development of a robotic system used for in-vitro biomechanical testing, namely the study of human spinal segments to assist in providing more information about the mechanisms leading to spinal joint injuries and degeneration.

Evidence for Spring Loaded Inverted Pendulum Running in a Hexapod Robot
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ABSTRACT This paper presents the first evidence that the Spring Loaded Inverted Pendulum (SLIP) may be" anchored" in our recently designed compliant leg hexapod robot, RHex. Experimentally measured RHex center of mass trajectories are fit to the SLIP model and

Analysis and Simulation of the Leg of an Hexapod Robot for Remote Exploration
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The locomotion system is determined by the terrain conditions. The aim of this paper is to introduce the characteristics and simulation of a hexapod legged robot that can be easily used for exploration of abrupt and harsh terrains, Jike the Rio Tinto environment. A

Fractional PDa control of an hexapod robot
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ABSTRACT This paper studies the performance of a Fractional Order PDa controller in a hexapod robot with three dof legs and leg joint actuators having saturation. For that objective the robot prescribed motion is characterized in terms of several locomotion variables.

Design, Modelling and Simulation of a Hexapod Robot for Basic Locomotion Strategies over Obstacles Using Matlab
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ABSTRACT In this paper the authors present a new software platform that has been made using Matlab, for studying hexapod robot stability in gravitational field and locomotion simulations over common types of obstacles and two particular forms of obstacles. For the

Evidence for Spring Loaded Inverted Pendulum Running in a Hexapod Robot Richard Altendorfer, Uluc. Saranli, Haldun Komsuo glu, Daniel Koditschek
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ABSTRACT This paper presents the first evidence that the Spring Loaded Inverted Pendulum (SLIP) may be" anchored" in our recently designed compliant leg hexapod robot, RHex. Experimentally measured RHex center of mass trajectories are fit to the SLIP model and

FPGA-based Hexapod Robot Spider
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ABSTRACT This paper describes a FPGA-based hexapod robot spider, which is used for student education purposes. In the paper mechanical design, kinematic analysis, electro- mechanical device and FPGA system are introduced. Some key points about gait mode,

Synchronization within Independent Neural Modules Controlling a Simulated Hexapod Robot
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Abstract In this paper we illustrate a system consisting of a collection of identical neural modules, that communicate by exchanging signals, that control a simulated hexapod robot with twelve DOF. The evolved neural controllers display an ability to generalize their

ACOUSTIC SURFACE PERCEPTION THROUGH THE GROUND INTERACTION OF COMPLIANT LEGS OF A HEXAPOD ROBOT
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Page 1. Page 2. ACOUSTIC SURFACE PERCEPTION THROUGH THE GROUND INTERACTION OF COMPLIANT LEGS OF A HEXAPOD ROBOT ACOUSTIC SURFACE PERCEPTION THROUGH THE GROUND INTERACTION OF COMPLIANT LEGS OF A HEXAPOD ROBOT

FLEXIBLE MULTIBODY DYNAMIC MODELING AND SIMULATION OF RHEX HEXAPOD ROBOT WITH HALF CIRCULAR COMPLIANT LEGS
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The focus of interest in this study is the RHex robot, which is a hexapod robot that is capable of locomotion over rugged, fractured terrain through statically and dynamically stable gaits while stability of locomotion is preserved. RHex is primarily a research platform that is

INVESTIGATION OF HEXAPOD ROBOT DYNAMICS AND ITS EFFECTS IN MILLING
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Abstract The use of Robotic machining in order to enable 'mobile manufacturing', is considered to be a more cost effective and portable alternative to traditional CNC machine tools. Thus, it is started to be used in the manufacture of large scale components designed

COMPUTER AIDED DESIGN OF A MACRO-POSITIONING ROBOT FOR AN HEXAPOD
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ABSTRACT In this study, computer aided design of a macro-positioning robot for an hexapod is considered. The macro-positioning robot is designed to manipulate the hexapod precisely. Hexapod robots have micron-precision motion capability. On the other hand,

KINEMATICS OF THE HEXAPOD PARALLEL ROBOT
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Recursive modelling for the kinematics of the Hexapod parallel robot are established in this paper. Controlled by six forces, the parallel manipulator prototype is a space six-degrees-of- freedom mechanical system with six fixed-length legs connecting to the moving platform.

Control of mobile walking robot (hexapod)
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ABSTRACT This paper presents the design and control system of the walking six-feet mobile robot further referred as a hexapod. Hexapod is a robot, ie motor vehicle that walks on six legs. Since for the keeping stability of the robot only three legs are sufficient, hexapod

Design of Motion Primitives for a Hexapod Walking Robot Operating in a Rough Environment
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A custom gait which allows the robot traversing rough terrain based on the internal sensors only and with continuous support of at least five legs is developed for this robot. Keywords:

A MACRO-POSITIONING ROBOT FOR AN HEXAPOD
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ABSTRACT In this thesis, computer aided design of a macro-positioning robot for an hexapod is considered. The macro-positioning robot is designed to manipulate the hexapod precisely. Hexapod robots have micron-precision motion capability. On the other hand,

OPTIMAL DESIGN OF HEXAPOD WALKING ROBOT LEG STRUCTURE BASED ON ENERGY CONSUMPTION AND WORKSPACE
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ABSTRACT In order to achieve the optimal design of the hexapod walking robot leg structure, a combined index of energy consumption and workspace is raised. By deriving the target workspace, a mathematical model

CONTRIBUTIONS TO THE ANALYSIS OF THE DYNAMIC RESPONSE OF A HEXAPODTYPE MOBILE ROBOT
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ABSTRACT The paper presents an intricate mathematical formalism useful in the kinematic and dynamic study of the kinematic chains in the structure of the industrial and biological robots. The presented analysis method completes a very proficient computational system of the

Distributed control of hexapod wall climbing robot implementing Controller Area Network (CAN)
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Service robots have been used in tasks that require navigation of horizontal or near horizontal surfaces. Some applications require service robots that are capable of moving along a vertical plane eg, wall painting, window washing, non-destructive testing (NDT),

Fuzzy Logic Based Real Time Obstacle Avoidance Controller for a Simplified Model ofHexapod Walking Robot
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ABSTRACT This paper describes the design of an intelligent controller based on fuzzy logic for hurdle avoidance task in hexapod walking robot. The controller takes input from two ultrasonic sensors mounted in front of the robot. The outputs from the controller are Robotics Modules with Realtime Adaptive Topology ABSTRACT In this study, we physically built hardware modules that allow us to flexibly construct robots with various morphologies. As opposed to the existing studies of modular robotics, where the connection topology among the modules has to be hand-designed, our modules are

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