Relevant bibliographies by topics / Hexapod

Contents

  1. Journal articles
  2. Dissertations / Theses
  3. Books
  4. Book chapters
  5. Conference papers
  6. Reports

Academic literature on the topic 'Hexapod'

Author: Grafiati
Published: 4 June 2021
Last updated: 22 November 2023

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Journal articles on the topic "Hexapod"

1

Xi, F. "Dynamic balancing of hexapods for high-speed applications." Robotica 17, no. 3 (May 1999): 335–42. http://dx.doi.org/10.1017/s0263574799001484.

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In this paper, a method is proposed for dynamic balancing of hexapods for high-speed applications. The kinematic structure of the hexapod is based on the parallel mechanism. For high-speed applications, hexapod dynamics is the dominant factor, and dynamic balancing becomes very important. The proposed method is aimed at minimizing the changes in the hexapod inertia over the workspace by utilizing the tool holder attached to the hexapod's end-effector as a counterweight.
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Xi, Fengfeng, Rosario Sinatra, and Wanzhi Han. "Effect of Leg Inertia on Dynamics of Sliding-Leg Hexapods." Journal of Dynamic Systems, Measurement, and Control 123, no. 2 (June 1, 2001): 265–71. http://dx.doi.org/10.1115/1.1369600.

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In this paper the effect of leg inertia on hexapod dynamics is investigated. Hexapods under investigation are a new type that is made of sliding legs with constant lengths. A complete dynamic model of sliding-leg hexapods is developed including leg inertia. Based on this dynamic model, the effect of leg inertia on hexapod dynamics is investigated in terms of two parameters. The first parameter is the ratio of the total leg mass to the mass of the moving platform, and the second parameter is the acceleration of the moving platform. Numerical studies reveal that the effect of leg inertia may be negligible at low speeds, but becomes significant at high speeds. Hence, leg inertia must be included for modeling hexapod dynamics for high-speed applications.
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Cheah, Wei, Hassan Hakim Khalili, Farshad Arvin, Peter Green, Simon Watson, and Barry Lennox. "Advanced motions for hexapods." International Journal of Advanced Robotic Systems 16, no. 2 (March 1, 2019): 172988141984153. http://dx.doi.org/10.1177/1729881419841537.

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Advanced motions, which utilize footholds on walls, offer considerably more opportunities for hexapods in accessing confined environment. However, there has been no research on the practical application of such motions on a hexapod. These motions are kinematically viable for the standard hexapod design with three degrees of freedom per leg but the joint requirements have yet to be identified. This article presents the motion analysis for two forms of advanced motion, wall walking and chimney walking, to study the joint requirement for executing such motions. The analysis has been verified through a series of experiments demonstrating that a hexapod with a standard design is capable of executing advanced motions.
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Lee, Sanghwa, Yuri Sohn, Chinkyo Kim, Dong Ryeol Lee, and Hyun-Hwi Lee. "Nanostructural analysis of GaN tripods and hexapods grown onc-plane sapphire." Journal of Applied Crystallography 43, no. 6 (October 13, 2010): 1300–1304. http://dx.doi.org/10.1107/s0021889810036472.

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The crystallographic and structural characteristics of GaN tripods and hexapods grown onc-plane sapphire substrates were investigated using synchrotron X-ray scattering and microscopic analysis. The core structure of a GaN hexapod is revealed to be in the zincblende phase with an inversion domain, and a refined crystallographic analysis of tripods and hexapods with synchrotron X-ray scattering shows the existence of the zincblende phase in wurtzite-based protruding nanorods. The atomistic model combined with this crystallographic analysis reveals that the core size of a hexapod is much smaller than the diameters of the protruding nanorods. This refined structural analysis can be utilized in tailoring the opto-electronic characteristics of GaN multipods.
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van Vuuren, Frank Janse, Yoon Soo Kim, and Kristiaan Schreve. "A Low-Cost Stewart Platform for a Radio Telescope." Applied Mechanics and Materials 300-301 (February 2013): 362–70. http://dx.doi.org/10.4028/www.scientific.net/amm.300-301.362.

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Most hexapods that are currently available on the market are expensive and have extremely high positional and orientation accuracies. Although the positional accuracy is high the viewing angle is limited to 60°. These hexapods are designed with a small viewing angle, as they are not optimised for radio telescopes. The aim of this work is to highlight the various factors that should be considered during the design of a 6-3 Stewart platform for pointing applications. These factors are illustrated by presenting the case study of a small custom hexapod that is designed, built and tested. Modelling of the Platform is performed through the implementation of existing kinematic and dynamic models that could be verified through comparison to simulation results in literature. Components designed for the hexapod include the linear drives, base joints, platform joints, electronic controller and graphical user interface. The design process is documented and design decisions clearly motivated. Performance of the Stewart platform is measured with an inclinometer and the ability of the platform to track a sun simulation path is presented. Specifications which the hexapod is able to achieve include a viewing angle of 120˚±0.3˚ and the ability to carry a payload of 1kg.
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Margaritescu, Mihai, Ana Maria Eulampia Ivan, Vlad Vaduva, and Cornel Brisan. "Extended Mobility Carried Out with a Double Hexapod Robot." Solid State Phenomena 166-167 (September 2010): 271–76. http://dx.doi.org/10.4028/www.scientific.net/ssp.166-167.271.

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The double hexapod robot 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 and small dimensions, having an extended operating space. Different modelling and construction aspects were described in few previous articles. Some examples of trajectories generated with this positioning system are now presented to illustrate its mobility, as well as the workspaces for one and two hexapods in order to make possible a visual comparison between the two volumes.
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Platov, Illia, and Oleksii Pavlovskyi. "VERTICAL MOTION OF MINIATURE WALKING ROBOTS. STATE OF THE PROBLEM REVIEW." Bulletin of Kyiv Polytechnic Institute. Series Instrument Making, no. 65(1) (June 30, 2023): 96–103. http://dx.doi.org/10.20535/1970.65(1).2023.283444.

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The article reviews the state of the art of developing miniature walking robots for vertical movement due to friction forces between limbs and surface. In particular, special attention is paid to miniature walking robots - hexapods, as they have good stability and cross-country ability compared to other types of robots, both wheeled and tracked. Unlike other types of robots, hexapods can be fully autonomous. This makes them a potentially versatile tool for solving a variety of tasks in different areas, such as: 1) rescue operations - hexapods can penetrate destroyed buildings to assess the condition under the rubble, explore underwater spaces, and generally move in places where there is not enough space for movement and complex maneuvers; 2) military use - hexapods can clear mines, be used for reconnaissance or surveying, while saving lives due to the possibility of complete autonomy; 3) industrial applications - due to their maneuverability and cross-country ability, hexapod robots can become indispensable in quarries and construction sites where there are slopes, mountainous terrain, and generally where wheeled or tracked robots cannot easily move; 4) speleology - search and exploration of minerals inside caves, mines, etc; 5) accident response, in particular, in the nuclear power industry. Despite the long history of development and significant progress in this area, thanks to which many design solutions and modernizations are already known, the problem of vertical movement of small hexapod robots due to friction forces still remains unsolved. Existing developments are usually aimed at moving on surfaces by imitating the limbs of biological creatures (insects, animals, etc.), which allows robots to climb upwards thanks to an adhesive substance, grip the surface with mechanical claws, etc. Magnet and suction cup designs have also been known for a long time, but this solution requires a very powerful power source and is not universal. Therefore, one of the most promising areas of research is the vertical movement of hexapod robots due to friction forces between the limbs and the surface, since the robot remains autonomous and does not require special equipment and additional communication with a power source (compressor, etc.), and, more importantly, is able to move both on horizontal and vertical surfaces. At the moment, there are several examples of successful use of hexapods for vertical movement, but the review of works has shown that the problem of vertical movement of miniature hexapod robots remains relevant and requires further research and development. Existing achievements in this area give us hope that in the future we will demonstrate effective solutions to this problem and the widespread use of hexapods in various industries and science.
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MĂRGĂRITESCU, Mihai, Dan DUMITRIU, Cornel BRIȘAN, Ana Maria Eulampia ROLEA, and Anghel CONSTANTIN. "Complex and Robust Motion Performed in Extended Workspace with a Double Hexapod Robotic System." Mechanics 26, no. 6 (December 7, 2020): 532–39. http://dx.doi.org/10.5755/j01.mech.26.6.20949.

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The aim of this study was to assess the functionality of a compact robotic system with hybrid kinematic structure, consisting in two hexapods serially connected and controlled in such a way that they have identical configurations any time, in terms of accuracy and maneuverability. By the aid of the a demonstration model it was intended to prove that the system substantially benefits of the precision and robustness of the parallel structures and simultaneously is capable to generate complex motions in a significant extended workspace compared with a single hexapod. The double hexapod system answers the actual need of accurate, complex and robust positioning systems used in new technologies and possibly in robotic surgery.
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Djukic, D. J., Yu A. Zhukov, E. B. Korotkov, A. V. Moroz, and N. S. Slobodzyan. "HEXAPOD DIGITAL CONTROL USING THE INVERSE DYNAMICS AND IT IMPLEMENTATION ON THE RADIATION-RESISTANT ARM-MICROCONTROLLER." Issues of radio electronics, no. 7 (July 20, 2018): 103–10. http://dx.doi.org/10.21778/2218-5453-2018-7-103-110.

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The researches are part of the actual work carried out by BSTU Voenmeh with the financial support of the Ministry of Education and Science of the Russian Federation for the design and creation of a precision mechanism with parallel kinematics of the «hexapod» type. In modern developments of robot control systems, the approach based on the solution of the inverse dynamic model is most popular. In this article, we study the quality of control and the feasibility of this approach in the control system based on the domestic radiation-resistant microcontroller. A mathematical description of the hexapod dynamics model and control algorithm is given. A model of a digital control system for the hexapod of space intended for use in Matlab Simulink is described. Estimates of the quality of hexapode regulation in the contour control regime are obtained. Evaluated the software implementation of the control algorithm in the real-time operating system Keil RTX in the programming language C++. The quantization period necessary for the implementation of the algorithm under investigation is determined.
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Kurnia, Mirza Sjahrul, Agus Pracoyo, and Leonardo Kamajaya. "Kontrol PID untuk Navigasi Robot Berkaki Berbasis Sensor TOF dan BNO055." Jurnal Elektronika dan Otomasi Industri 10, no. 3 (September 30, 2023): 462–70. http://dx.doi.org/10.33795/elkolind.v10i3.1952.

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Perkembangan dalam bidang teknologi semakin cepat khususnya dibidang robotika. Dalam klasifikasinya, robot terbagi berdasarkan actuator penggeraknya yaitu robot beroda dan juga robot berkaki (legged). Pada robot berkaki, terdapat sebuah tantangan dimana robot harus dapat berjalan lurus di lintasan dimana tidak terdapat dinding penuntun. Penelitian ini bertujuan untuk mengembangkan robot hexapoda yang dapat berjalan lurus menggunakan metode kontrol PID. Pengujian dilakukan dengan mengukur jarak tempuh robot dalam lintasan lurus sejauh 5 meter. Robot dikendalikan oleh mikrokontroler dengan algoritma PID untuk mengatur gerakan kaki dan memastikan kestabilan selama berjalan. Penelitian ini melibatkan pembuatan dan pengujian prototipe robot hexapod dengan 3 servo motor pada setiap kaki, sehingga total ada 18 servo motor yang dikendalikan oleh mikrokontroler. Parameter PID terus disesuaikan selama pengujian untuk memperbaiki kinerja robot dalam berjalan. Hasil pengujian menunjukkan bahwa robot hexapod dapat berjalan lurus dengan baik, dengan jarak tempuh 5 meter dengan pembelokan maksimal 2° terhadap sumbu y dan dapat kembali ke setpoint 0°. Dalam kesimpulan, penelitian ini membuktikan bahwa penggunaan metode kontrol PID dapat meningkatkan kinerja robot hexapod dalam berjalan lurus dan dapat diimplementasikan pada aplikasi robot lainnya.
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Dissertations / Theses on the topic "Hexapod"

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Žák, Marek. "Řízení pohybu robota typu hexapod." Master's thesis, Vysoké učení technické v Brně. Fakulta informačních technologií, 2015. http://www.nusl.cz/ntk/nusl-234889.

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This thesis discusses walking robots issues, their classification, management and construction. There are listed the most famous motion algorithms and their graphical representation. Examples of existing walking robots are also mentioned in this thesis. There are also described modifications of hexapod robot, its hardware and software. The robot is controlled through graphical user interface, which displays data from all sensors, visualises positions of all legs and allows the creation of user defined gaits and its simulations.
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De, Silva Shalutha. "Force controlled hexapod walking." Thesis, Queensland University of Technology, 2014. https://eprints.qut.edu.au/78978/1/Karunakalage_De%20Silva_Thesis.pdf.

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This thesis is a study on controlling methods for six-legged robots. The study is based on mathematical modeling and simulation. A new joint controller is proposed and tested in simulation that uses joint angles and leg reaction force as inputs to generate a torque, and a method to optimise this controller is formulated and validated. Simulation shows that hexapod can walk on flat ground based on PID controllers with just four target configurations and a set of leg coordination rules, which provided the basis for the design of the new controller.
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Wallnäs, Ola. "Hexapod för positionering av solcellspaneler." Thesis, KTH, Maskinkonstruktion (Inst.), 2013. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-175788.

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Att producera elektricitet med hjälp av solpaneler blir allt attraktivare i kölvattnet av billigare solcellspaneler, statliga stöd och viljan att skapa miljövänliga lösningar. För att öka den utlevererade effekten ifrån panelerna finns möjligheten att placera dem på en solföljande modul. Denna rapport har till syfte att presentera och värdera olika positioneringslösningar för solcellspaneler, samt att generera ett koncept baserat på en hexapod/Stewart-plattform. En stor del av arbetet har inneburit litteraturstudier kring området positionering av solpaneler vilket har givit insikter om hur stor betydelse geografiska skillnader har i sammanhanget och hur viktigt det är att den solföljande enheten är energisnål, underhållsfri, har låga investeringskostnader och klarar av stora vindlaster. I den senare delen av rapporten fokuseras det på hexapodens uppbyggnad och lämplighet för applikationen. Resultatet av dessa studier är att hexapoden främst på grund av sin komplexitet och begränsade rörelseförmåga ej är lämplig för användning i denna tillämpning. Trots detta faktum så har det på uppdragsgivarens önskemål tagits fram ett koncept som bygger på en hexapodenhet ifrån det franska företaget SYMETRIE. I utvecklingsprocessen används mjukvaran Solid Edge och Ansys Workbench för CADmodellering respektive FEM-analys. Det framtagna konceptet levde inte upp till de krav som ställdes och styrker därmed tidigare tagna slutsatser.
Producing electricity using photovoltaic panels are increasingly popular in the wake of cheaper panels, government support and the will to create sustainable solutions. To increase the amount of delivered power from the panels there is a possibility to attach them to a solar tracking module. This report aims to highlight and evaluate different types of photovoltaic systems and to generate a concept based on a hexapod/Stewart platform. A significant part of the work has consisted of literature studies in the field of photovoltaic positioning, which has contributed with the insight of the importance of geographically differences and the essential properties on PVsystems including energy efficiency, low maintenance and installation costs and high resistance against wind loads. The second part of the report is focused on the mechanical structure of the hexapod and its relevance in the current application. The outcome of these studies is that the hexapod advisably should not be used for PV-positioning, mainly because of its complexity and limited work space. A concept based on a hexapod delivered by the French company SYMETRIE is, despite this fact, developed in the report on behalf of the client. In this process the software Solid Edge and Ansys Workbench is used to create CAD models and to perform FEM analysis on certain parts. The presented concept was not able to satisfy the given demands and is therefore confirming the previously reported conclusions.
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McMordie, Dave 1975. "Towards pronking with a hexapod robot." Thesis, McGill University, 2002. http://digitool.Library.McGill.CA:80/R/?func=dbin-jump-full&object_id=29539.

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RHex is a robotic hexapod with springy legs and just six actuated degrees of freedom. This work presents the development of a pronking gait for RHex, extending its efficiency and speed by exploiting its springy legs for hopping. A simple physical model of pronking is presented and verified qualitatively in simulation and experiment. In the course of analysing and attempting to stabilize pronking, the author develops an inertial attitude estimation system for RHex built around a three axis fibre-optic gyroscope. The author also validates a simple current estimation model for RHex's motors, which is then used to detect leg touchdown during pronking.
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Wardle, Javan Brent. "Hexapod robot locomotion over uneven terrain." Thesis, University of Salford, 1997. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.360453.

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Lindström, Mattias, and Fredrik Persson. "The Memec Hexapod Robot : a demonstration platform." Thesis, Uppsala universitet, Institutionen för teknikvetenskaper, 2010. http://urn.kb.se/resolve?urn=urn:nbn:se:uu:diva-132345.

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This thesis shows how to replace a microcontroller unit (MCU) on a six legged robot,involving adapting hardware and developing software. The robot is based on themechanics from Lynxmotion’s Phoenix Hexapod Robot, which is a mechanical vehiclewith 6 legs and 18 servos. The robot is controlled by two controller boards, whichwith available software can run pre-made movement sequences or be controlled by aPlaystation2 hand controller. One of the controller boards needs to be replaced byanother more powerful MCU from another manufacturer. The new MCU comesfrom Avnet-Memec, which is a major semiconductor components distributor. Theywant to use the Hexapod Robot as a platform for demonstrating the capabilities ofthe franchises on their line card to attract potential customer's interest andawareness. The original Basic Atom Pro 28 MCU needs for that purpose to bereplaced with hardware from an Avnet-Memec franchise. Avnet-Memec has decidedto use the circuit board MBS270 from Mobisense Systems based on theARM-processor Marvel PXA270 running Embedded Linux operating system. Theproject was successful and resulted in a Phoenix Hexapod Robot with a new morepowerful and versatile MCU from an Avnet-Memec franchise. The robot can runpre-made movement sequences as with the old MCU, but now with a much morepowerful processor with support for features like wifi, video acquisition and muchmore. The robot was shown by Avnet-Memec at the Scandinavian Electronics Eventfair 2010 in Älvsjö, Stockholm, Sweden, and was appreciated among visitors and otherexhibitors.
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Zhang, Li. "Accuracy enhancement of a hexapod machine tool /." Essen : Vulkan-Verl, 2006. http://deposit.d-nb.de/cgi-bin/dokserv?id=2864795&prov=M&dok_var=1&dok_ext=htm.

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Fielding, Michael. "Omnidirectional gait generating algorithm for hexapod robot." Thesis, University of Canterbury. Mechanical Engineering, 2002. http://hdl.handle.net/10092/6027.

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Walking robots have long been proposed as solutions to the problem of mobile machines operating in unstructured and natural environments because they can traverse relatively large obstacles and avoid dangerous or sensitive areas of the ground. Walking machines that can move in any direction and turn through any radius have an 'omnidirectional manoeuvring' capability. Hexapodal (six-legged) walking machines have advantages over bipedal and quadrupedal machines in the areas of stability, payload and simplicity, as well as the ability to operate with damaged or broken legs. Walking robots inspired by insect neurology and biology continue to extend the state of the art, but using this 'biologically inspired' approach to develop behaviours not exhibited by the animals requires further insight into the principles of walking. Part of this thesis develops a possible explanation for the distributed inter-leg influences that control walking in the stick insect: that legs swing forward to take their next step when the proximity of other legs or workspace boundaries restricts their movement. This new concept, called the 'restrictedness' algorithm, has similarities to distributed gait controllers in the literature but with enhanced capabilities and simpler implementation. The restrictedness algorithm is a significant contribution to the field of walking robotics and may also be of relevance to future biological studies. Omnidirectional walking requires the adaptation of leg movements to the locomotion direction and robustness to unusual leg lifting positions. A novel velocity field specified in a 'task coordinate system' for each leg is described, a scheme that allows simple realtime adaptation to different commanded body movement vectors and changing spatial relationships between the legs. Active compliance and automatic levelling improve the robot's interaction with the ground, especially over rough ground. Experiments with the robot Hamlet, designed and built primarily by the author, proved that the new restrictedness and velocity field swing algorithms display the important traits required from a walking robot gait controller. Specifically, the algorithm provided delivers the range of optimal forward walking gaits observed in insects while also supporting omnidirectional walking, including rotating while simultaneously translating. Optimization by simulating a model of the robot improved the controller's forward walking performance.
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Chen, Jiqing. "Hexapod machines : stiffness analysis, simulation & design." Thesis, University of Salford, 2004. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.412613.

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Guo, Yixuan. "Hexapod Gait Planning and Obstacle Avoidance Algorithm." University of Toledo / OhioLINK, 2016. http://rave.ohiolink.edu/etdc/view?acc_num=toledo1461868607.

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Books on the topic "Hexapod"

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Massobrio, Marco, and Redento Mora, eds. Hexapod External Fixator Systems. Cham: Springer International Publishing, 2021. http://dx.doi.org/10.1007/978-3-030-40667-7.

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Nonami, Kenzo, Ranjit Kumar Barai, Addie Irawan, and Mohd Razali Daud. Hydraulically Actuated Hexapod Robots. Tokyo: Springer Japan, 2014. http://dx.doi.org/10.1007/978-4-431-54349-7.

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McMillen, David Ross. Kafka: a hexapod robot. [Toronto, Ont.]: University of Toronto, Institute for Aerospace Studies, 1995.

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P, Conti Joseph, and National Institute of Standards and Technology (U.S.), eds. Workspace variation of a hexapod machine tool. Gaithersburg, MD: U.S. Dept. of Commerce, Technology Administration, National Institute of Standards and Technology, 1998.

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Jones, Trevor J. Introducing the hexapod into Europe: A strategic synopsis. Leicester: Leicester Business School, De Montfort University, 1995.

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Schue, Charles Andrew. Simulation of tripod gaits for a hexapod underwater walking machine. Monterey, Calif: Naval Postgraduate School, 1993.

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Isella, G. Preliminary analysis of a hexapod pointing system for space applications. Paris, France: European Space Agency, 1994.

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Kristiansen, Karl Johann Ragnar Wrussell. A computer simulation of vehicle and actuator dynamics for a hexapod walking robot. Monterey, Calif: Naval Postgraduate School, 1994.

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Lyman, Relle Lewis. A computer simulation study of tripod follow-the-leader gait coordination for a hexapod walking machine. Monterey, Calif: Naval Postgraduate School, 1987.

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Carpenter, F. M. Superclass Hexapoda. Boulder, Colo: Geological Society of America, 1992.

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Book chapters on the topic "Hexapod"

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Tedeschi, Franco, and Giuseppe Carbone. "Hexapod Walking Robot Locomotion." In Motion and Operation Planning of Robotic Systems, 439–68. Cham: Springer International Publishing, 2015. http://dx.doi.org/10.1007/978-3-319-14705-5_15.

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Lufinka, A., and R. Martonka. "Hexapod Control System Optimization." In The Latest Methods of Construction Design, 443–47. Cham: Springer International Publishing, 2016. http://dx.doi.org/10.1007/978-3-319-22762-7_67.

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Hinwood, David, and Damith Herath. "Robot Hexapod Build Labs." In Foundations of Robotics, 495–513. Singapore: Springer Nature Singapore, 2022. http://dx.doi.org/10.1007/978-981-19-1983-1_17.

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Omata, Toru. "Whole Quadruped/Hexapod Manipulation." In Springer Tracts in Advanced Robotics, 16–25. Berlin, Heidelberg: Springer Berlin Heidelberg, 2005. http://dx.doi.org/10.1007/11008941_3.

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De Silva, Shalutha, and Joaquin Sitte. "Force Controlled Hexapod Walking." In Advances in Autonomous Mini Robots, 265–77. Berlin, Heidelberg: Springer Berlin Heidelberg, 2012. http://dx.doi.org/10.1007/978-3-642-27482-4_25.

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Ruocco, Giancarlo, and Alfonso Alessandro Tanga. "Mathematics of the Hexapod." In Hexapod External Fixator Systems, 13–18. Cham: Springer International Publishing, 2021. http://dx.doi.org/10.1007/978-3-030-40667-7_2.

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Niţulescu, M., M. Ivănescu, S. Mănoiu-Olaru, and V. D. H. Nguyen. "Experimental Platform for Hexapod Locomotion." In New Advances in Mechanisms, Mechanical Transmissions and Robotics, 259–67. Cham: Springer International Publishing, 2016. http://dx.doi.org/10.1007/978-3-319-45450-4_26.

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Martonka, R., and V. Fliegel. "Hexapod: The Platform with 6DOF." In Lecture Notes in Mechanical Engineering, 133–38. Cham: Springer International Publishing, 2014. http://dx.doi.org/10.1007/978-3-319-05203-8_19.

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Randall, M. "Insect observations and hexapod design." In WIT Transactions on State-of-the-art in Science and Engineering, 265–302. Southampton UK: WIT Press, 2006. http://dx.doi.org/10.2495/978-1-85312-853-0/09.

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Miunske, Tobias. "Verkopplung von Hexapod und Schlittensystem." In Wissenschaftliche Reihe Fahrzeugtechnik Universität Stuttgart, 31–38. Wiesbaden: Springer Fachmedien Wiesbaden, 2020. http://dx.doi.org/10.1007/978-3-658-30470-6_3.

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Conference papers on the topic "Hexapod"

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Ji, Zhiming, and Zhenqun Li. "Path Planning for Motion Control of Hexapod Machines." In ASME 2001 International Mechanical Engineering Congress and Exposition. American Society of Mechanical Engineers, 2001. http://dx.doi.org/10.1115/imece2001/dsc-24603.

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Abstract The dramatic departure in structure of the hexapod machine tools from the traditional five-axis machines leads to the question: can the planning and control methods for the traditional CNC machines be used for the hexapod machine tools? We studied several tool motion characteristics, such as Jocabian matrices, path tracking errors and the extra degree of freedom (e-DOF), and found that the traditional five-axis planning methods cannot take into consideration of the kinematics performance variation and the e-DOF in a hexapod. A kinematics-based tool path planning scheme for the hexapods is therefore proposed. It combines the traditional tool path planning with the kinematic condition optimization. The optimization is a two-step process. First a high accuracy zone of the workspace is identified globally for the placement of the part. Then a set of 5-DOF tool paths is generated and extended to a set of 6-DOF tool paths based on the local planning of e-DOF. Finally the relationship between the e-DOF and the stiffness of the Hexapods, another factor in the use of e-DOF, are discussed.
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Kalas, Vinayak J., Alain Vissière, Thierry Roux, Olivier Company, Sébastien Krut, and François Pierrot. "A New Efficient Stiffness Evaluation Method to Improve Accuracy of Hexapods." In ASME 2018 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers, 2018. http://dx.doi.org/10.1115/detc2018-85986.

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Structural compliance of hexapods limits their positioning accuracy. Taking a step towards solving this problem, this paper proposes a new efficient method to evaluate the stiffness of hexapods in order to predict and correct their positioning error due to compliance. The proposed method can be used to predict the six degree of freedom deflection of the platform under load. This method uses a simple lumped stiffness parameter model whose parameters can be estimated using the identification technique presented in this paper. An experimental study with micrometer level measurements performed on a hexapod based micro-positioning system is used to assess the efficiency of the presented method.
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Trivun, Darko, Haris Dindo, and Bakir Lacevic. "Resilient hexapod robot." In 2017 XXVI International Conference on Information, Communication and Automation Technologies (ICAT). IEEE, 2017. http://dx.doi.org/10.1109/icat.2017.8171613.

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Ukani, Neema, Saurabh Chakole, Sahil Singh B. Diwan, Sanjyot S. Kawale, and Shashank K. Hedau. "Developing Hexapod Robot." In 2020 6th International Conference on Advanced Computing and Communication Systems (ICACCS). IEEE, 2020. http://dx.doi.org/10.1109/icaccs48705.2020.9074235.

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Uddin, Md Imran, Md Shahriar Alamgir, Joy Chakrabarty, Md Iqbal Hossain, and Md Arif Abdulla Samy. "Multitasking Spider Hexapod Robot." In 2019 IEEE International Conference on Robotics, Automation, Artificial-intelligence and Internet-of-Things (RAAICON). IEEE, 2019. http://dx.doi.org/10.1109/raaicon48939.2019.58.

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Zielinska, T., T. Goh, and Choong Kwong Chong. "Design of autonomous hexapod." In Proceedings of the First Workshop on Robot Motion and Control. RoMoCo'99 (Cat. No.99EX353). IEEE, 1999. http://dx.doi.org/10.1109/romoco.1999.791054.

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Nava Rodri´guez, Nestor Eduardo, Luis Moreno Lorente, Giuseppe Carbone, and Marco Ceccarelli. "A New Design for Cassino Hexapod Robot." In ASME 2010 10th Biennial Conference on Engineering Systems Design and Analysis. ASMEDC, 2010. http://dx.doi.org/10.1115/esda2010-24020.

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We present the design process of a new low-cost easy-operation Cassino Hexapod robot. In a recent past, research activities have been carried out for developing a six-legged robot at LARM (LAboratory of Robotics and Mechatronics) of Cassino University in Italy. The robot designs have been based on suitable mechanism structures and architectures that can be easy operated by a commercial on-off logic device. The first prototype is composed of modular legs with three degrees of freedom (DOF). A second prototype of a hexapod leg presents two links and two DOFs. The new prototype Cassino Hexapod robot has two DOFs, such as, one for pitch movement that drives an articulated mechanism and other for yaw movement. Additional peculiarity of the leg design is that the foot is designed as a powered wheel with the possibility to regulate the velocity and force at the contact during the support phases of the leg. Simulation results of the proposed design operation of the new hexapod robot are reported with the aim of characterizing both operation performance and design features.
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Yu, Wen-Shyong. "Visual servo hexapod robot control." In 2016 International Conference on System Science and Engineering (ICSSE). IEEE, 2016. http://dx.doi.org/10.1109/icsse.2016.7551550.

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Onoda, Junjiro, Dan-Ying Fu, and Kenji Minesugi. "Two-dimensionally deployable hexapod truss." In 36th Structures, Structural Dynamics and Materials Conference. Reston, Virigina: American Institute of Aeronautics and Astronautics, 1995. http://dx.doi.org/10.2514/6.1995-1279.

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Yang, Fan, Xilun Ding, and Gregory S. Chirikjian. "Kinematic Analysis of Hexapod Manipulation." In ASME 2016 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers, 2016. http://dx.doi.org/10.1115/detc2016-59619.

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This paper provides a method for modeling the center of mass (COM) of hexapod manipulation systems, which is based on the Statically Equivalent Serial Chain (SESC) model. First, the product of exponentials (POE) formula is used to construct the SESC model for the simple tree-like chain. Then, in order to apply this method to real scenarios, the situation when the robot stands on uneven terrain is studied. In addition, the static grasp constraints for the manipulation and the Jacobian matrix for the COM of the system are analyzed. Moreover, we present a modified tumble stability margin, which considers all of the possible ways that the robot can tumble. Finally, based on these kinematic analyses, a motion control scheme for statically stable manipulation is proposed. The results are validated with simulations.
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Reports on the topic "Hexapod"

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Altendorfer, R., N. Moore, H. Komsuoglu, M. Buehler, H. B. Brown, McMordie Jr., Saranli D., Full U., Koditschek R., and D. E. RHex: A Biologically Inspired Hexapod Runner. Fort Belvoir, VA: Defense Technical Information Center, January 2001. http://dx.doi.org/10.21236/ada438814.

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Conti, Joseph P., Charles M. Clinton, Guangming Zhang, and Albert J. Wavering. Workspace variation of a hexapod machine tool. Gaithersburg, MD: National Institute of Standards and Technology, 1998. http://dx.doi.org/10.6028/nist.ir.6135.

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Beer, Randall D. A Cockroach-Like Hexapod Robot for Natural Terrain Locomotion. Fort Belvoir, VA: Defense Technical Information Center, June 1997. http://dx.doi.org/10.21236/ada326911.

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Beer, Randall D., Roger Quinn, Roy Ritzmann, and Hillel Chiel. A Cockroach-Like Hexapod Robot for Natural Terrain Locomotion. Fort Belvoir, VA: Defense Technical Information Center, December 1997. http://dx.doi.org/10.21236/ada333320.

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Beer, Randall, Roger Quinn, Roy Ritzmann, and Hillel Chiel. A Cockroach-Like Hexapod Robot for Natural Terrain Locomotion. Fort Belvoir, VA: Defense Technical Information Center, June 1998. http://dx.doi.org/10.21236/ada347557.

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Beer, Randall D. A Cockroach-Like Hexapod Robot for Natural Terrain Locomotion. Fort Belvoir, VA: Defense Technical Information Center, December 1998. http://dx.doi.org/10.21236/ada358415.

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Altendorfer, Richard, Uluc Saranli, Haldun Komsuoglu, Daniel Koditschek, H. B. Brown, Buehler Jr., Moore Martin, McMordie Ned, Full Dave, and Robert. Evidence for Spring Loaded Inverted Pendulum Running in a Hexapod Robot. Fort Belvoir, VA: Defense Technical Information Center, January 2001. http://dx.doi.org/10.21236/ada438810.

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Koditschek, Daniel E. Computational Neuromechanics: Programming Work in Biological Systems *AND* RHex: The CNM Hexapod. Fort Belvoir, VA: Defense Technical Information Center, January 2004. http://dx.doi.org/10.21236/ada432902.

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Kurkiev, К. U., N. A. Alimuradov, and M. H. Gadzhimagomedova. CHARACTERISTICS OF HEXAPLOID TRICTIC SORTS FOR LARGE GRAIN. Modern Science Success, 2017. http://dx.doi.org/10.15217/daggau-668454.

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Kurkiev, K. U., U. K. Kurkiev, S. K. Temirbekova, and M. H. Gadzhimagomedova. FIELD RESISTANCE ACCESSIONS OF HEXAPLOID TRITICALE BY PUCCINIA STRIIFORMIS WEST IN THE SOUTH AREA PLANAR DAGESTAN. FEDERAL STATE BUDGETARY SCIENTIFIC RESEARCH INSTITUTION «ALL-RUSSIAN RESEARCH INSTITUTE OF PHYTOPATHOLOGY», 2016. http://dx.doi.org/10.15217/daggau-668449.

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