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Relevant bibliographies by topics / Hexapod gait planning

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Academic literature on the topic 'Hexapod gait planning'

Author: Grafiati

Published: 4 June 2021

Last updated: 1 February 2022

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Journal articles on the topic "Hexapod gait planning"

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Wang, Ruyi. "Hybrid Gait Planning of A Hexapod Robot." Modern Electronic Technology 4, no. 2 (2020): 11. http://dx.doi.org/10.26549/met.v4i2.5075.

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The adapotation of gaits pattern is a basic and important for the hexapod robot to move stably and efficiently, which depends on the servos of the robot’s legs, and also the body structure of the robot.This paper compares the tripod gait and the crab-inspired gait for a specific hexapod to move forward and move backward; turn left and turn right and integrates the two gaits to apply them under different conditions. The hexapod has three servos on each legs, thus the freedom level of each leg is three-degree. From the comparative experiment, this two gait patterns are suitable for different tur

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Wang, Binrui, Ke Zhang, Xuefeng Yang, and Xiaohong Cui. "The gait planning of hexapod robot based on CPG with feedback." International Journal of Advanced Robotic Systems 17, no. 3 (2020): 172988142093050. http://dx.doi.org/10.1177/1729881420930503.

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To realize the omnidirectional motion, the transition motion of hexapod robot from flat to slope is studied, and a new type of stability criterion is proposed. Firstly, the landing point problem of the hexapod robot in the process of transition is studied, the relationship between the introduced angle in ankle of the supporting leg and the body pitch is acquired, and the transition gait based on central pattern generator bottom feedback is planned. Secondly, the slope motion is analyzed, the relationship between the angle variable of the supporting knee joint and the pitch angle of hexapod is

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Bai, Long, Hao Hu, Xiaohong Chen, Yuanxi Sun, Chaoyang Ma, and Yuanhong Zhong. "CPG-Based Gait Generation of the Curved-Leg Hexapod Robot with Smooth Gait Transition." Sensors 19, no. 17 (2019): 3705. http://dx.doi.org/10.3390/s19173705.

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This paper presents a novel CPG-based gait generation of the curved-leg hexapod robot that can enable smooth gait transitions between multi-mode gaits. First, the locomotion of the curved leg and instability during the gait transitions are analyzed. Then, a modified Hopf oscillator is applied in the CPG control, which can realize multiple gaits by adjusting a simple parameter. In addition, a smooth gait switching method is also proposed via smooth gait transition functions and gait planning. Tripod gait, quadruped gait, and wave gait are planned for the hexapod robot to achieve quick and stabl

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Niu, Zijie, Aiwen Zhan, and Yongjie Cui. "Deviation from the direction of motion across gaits in a hexapodal robot." Industrial Robot: the international journal of robotics research and application 47, no. 3 (2020): 325–33. http://dx.doi.org/10.1108/ir-03-2019-0054.

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Purpose The purpose of this study is to test a chassis robot on rugged road cargo handling. Design/methodology/approach Attitude solution of D-H series robot gyroscope speed and acceleration sensor. Findings In identical experimental environments, hexapodal robots experience smaller deviations when using a four-footed propulsive gait from a typical three-footed gait for forward motion; for the same distance but at different speeds, the deviation basically keeps itself within the same range when the robot advances forward with four-foot propulsive gait; because the foot slide in the three-foote

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Yang, Jung-Min. "Fault-tolerant crab gaits and turning gaits for a hexapod robot." Robotica 24, no. 2 (2005): 269–70. http://dx.doi.org/10.1017/s0263574705002237.

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This paper studies crab gaits and turning gaits of a hexapod robot with a locked joint failure. Due to the reduced workspace of a failed leg, fault-tolerant gaits have limitations in their mobility. Based on the principles of fault-tolerant gait planning, periodic crab gaits and turning gaits are proposed in which a hexapod robot carries out tripod walking after a locked joint failure, having a reasonable stride length and stability margin.

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Cai, Zhongbin, Yong Gao, Wu Wei, Tianxiao Gao, and Zhijian Xie. "Model design and gait planning of hexapod climbing robot." Journal of Physics: Conference Series 1754, no. 1 (2021): 012157. http://dx.doi.org/10.1088/1742-6596/1754/1/012157.

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Zhang, Feng, Shidong Zhang, Qian Wang, Yujie Yang, and Bo Jin. "Straight Gait Research of a Small Electric Hexapod Robot." Applied Sciences 11, no. 8 (2021): 3714. http://dx.doi.org/10.3390/app11083714.

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Gait is an important research content of hexapod robots. To better improve the motion performance of hexapod robots, many researchers have adopted some high-cost sensors or complex gait control algorithms. This paper studies the straight gait of a small electric hexapod robot with a low cost, which can be used in daily life. The strategy of “increasing duty factor” is put forward in the gait planning, which aims to reduce foot sliding and attitude fluctuation in robot motion. The straight gaits of the robot include tripod gait, quadrangular gait, and pentagonal gait, which can be described con

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Li, Ruiqin, Hongwei Meng, Shaoping Bai, Yinyin Yao, and Jianwei Zhang. "Stability and Gait Planning of 3-UPU Hexapod Walking Robot." Robotics 7, no. 3 (2018): 48. http://dx.doi.org/10.3390/robotics7030048.

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The paper presents an innovative hexapod walking robot built with 3-UPU parallel mechanism. In the robot, the parallel mechanism is used as both an actuator to generate walking and also a connecting body to connect two groups of three legs, thus enabling the robot to walk with simple gait by very few motors. In this paper, forward and inverse kinematics solutions are obtained. The workspace of the parallel mechanism is analyzed using limit boundary search method. The walking stability of the robot is analyzed, which yields the robot’s maximum step length. The gait planning of the hexapod walki

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Liu, Yiqun, Xuanxia Fan, Liang Ding, Jianfeng Wang, Tao Liu, and Haibo Gao. "Fault-Tolerant Tripod Gait Planning and Verification of a Hexapod Robot." Applied Sciences 10, no. 8 (2020): 2959. http://dx.doi.org/10.3390/app10082959.

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In some hazardous or inaccessible applications, such as earthquake rescue, as a substitute for mankind, robots are expected to perform missions reliably. Unfortunately, the failure of components is difficult to avoid due to the complexity of robot composition and the interference of the environment. Thus, improving the reliability of robots is a crucial problem. The hexapod robot has redundant degrees of freedom due to its multiple joints, making it possible to tolerate the failure of one leg. In this paper, the Fault-Tolerant Tripod (F-TT) gait dealing with the failure of one leg is researche

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LI, Manhong. "Free Gait Planning for a Hexapod Robot Based on Reinforcement Learning." Journal of Mechanical Engineering 55, no. 5 (2019): 36. http://dx.doi.org/10.3901/jme.2019.05.036.

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Dissertations / Theses on the topic "Hexapod gait planning"

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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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Showalter, Mark Henry. "Work Space Analysis and Walking Algorithm Development for A Radially Symmetric Hexapod Robot." Thesis, Virginia Tech, 2008. http://hdl.handle.net/10919/34663.

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The Multi-Appendage Robotic System (MARS) built for this research is a hexapod robotic platform capable of walking and performing manipulation tasks. Each of the six limbs of MARS incorporates a three-degree of freedom (DOF), kinematically spherical proximal joint, similar to a shoulder or hip joint; and a 1-DOF distal joint, similar to an elbow or knee joint. Designing walking gaits for such multi-limb robots requires a thorough understanding of the kinematics of the limbs, including their workspace. The specic abilities of a walking algorithm dictate the usable workspace for the limbs. Gener

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Book chapters on the topic "Hexapod gait planning"

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Xin, Guiyang, Hua Deng, Guoliang Zhong, and Hengsheng Wang. "Gait and Trajectory Rolling Planning for Hexapod Robot in Complex Environment." In Lecture Notes in Electrical Engineering. Springer Singapore, 2016. http://dx.doi.org/10.1007/978-981-10-2875-5_3.

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Sheng, Dong Bo, Hung Nguyen Huy, Pandu Sandi Pratama, Hak Kyeong Kim, Vo Hoang Duy, and Sang Bong Kim. "Walking Gait Planning Using Central Pattern Generators for Hexapod Walking Robot." In AETA 2015: Recent Advances in Electrical Engineering and Related Sciences. Springer International Publishing, 2016. http://dx.doi.org/10.1007/978-3-319-27247-4_56.

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Li, Yongjie, Jiaxin Zhai, Weixin Yan, and Yanzheng Zhao. "The Design and the Gait Planning Analysis of Hexapod Wall-Climbing Robot." In Intelligent Robotics and Applications. Springer International Publishing, 2016. http://dx.doi.org/10.1007/978-3-319-43506-0_54.

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Chai, Xun, Feng Gao, and Yilin Xu. "Perception-Based Gait Planning for a Hexapod Robot Walking on Typical Structured Terrain." In Lecture Notes in Electrical Engineering. Springer Singapore, 2016. http://dx.doi.org/10.1007/978-981-10-2875-5_15.

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Conference papers on the topic "Hexapod gait planning"

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Hasnaa, El Hansali, and Bennani Mohammed. "Planning tripod gait of an hexapod robot." In 2017 14th International Multi-Conference on Systems, Signals & Devices (SSD). IEEE, 2017. http://dx.doi.org/10.1109/ssd.2017.8166964.

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Liu, Qingyun, and Tiantian Jing. "A Survey on Hexapod Walking Robot and Gait Planning." In 2015 International Forum on Energy, Environment Science and Materials. Atlantis Press, 2015. http://dx.doi.org/10.2991/ifeesm-15.2015.67.

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Wei, Wu, Jinquan Sun, Yong Gao, Yao Yeboah, and Linqing Huang. "The System Design and Gait Planning for Walking-Climbing Hexapod." In the 2019 3rd International Conference. ACM Press, 2019. http://dx.doi.org/10.1145/3319921.3319940.

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Luo, Qingsheng, Hui Zhang, Baoling Han, and Xiaochuan Zaho. "Research on biologically inspired hexapod robot's gait and path planning." In 2009 International Conference on Information and Automation (ICIA). IEEE, 2009. http://dx.doi.org/10.1109/icinfa.2009.5205163.

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Zhang, Chunyang, Xianzhi Jiang, Minliang Teng, and Jun Teng. "Research on Gait Planning and Static Stability of Hexapod Walking Robot." In 2015 8th International Symposium on Computational Intelligence and Design (ISCID). IEEE, 2015. http://dx.doi.org/10.1109/iscid.2015.225.

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Gao, Haibo, Ma Jin, Yiqun Liu, Liang Ding, Haitao Yu, and Zongquan Deng. "Turning gait planning and simulation validation of a hydraulic hexapod robot." In 2015 International Conference on Fluid Power and Mechatronics (FPM). IEEE, 2015. http://dx.doi.org/10.1109/fpm.2015.7337231.

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Zhai, Yue, Peng Gao, Yu Sun, et al. "Gait planning for a multi-motion mode wheel-legged hexapod robot." In 2016 IEEE International Conference on Robotics and Biomimetics (ROBIO). IEEE, 2016. http://dx.doi.org/10.1109/robio.2016.7866363.

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Liu, Yunhong, and Yuzhang Xu. "Free Gait Planning of Hexapod Robot Based on Improved DQN Algorithm." In 2020 IEEE 2nd International Conference on Civil Aviation Safety and Information Technology (ICCASIT). IEEE, 2020. http://dx.doi.org/10.1109/iccasit50869.2020.9368531.

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Xue, Junfeng, Jiehao Li, Zhihua Chen, Shoukun Wang, Junzheng Wang, and Ruijun Ma. "Gait Planning and Control of Hexapod Robot Based on Velocity Vector." In 2021 6th IEEE International Conference on Advanced Robotics and Mechatronics (ICARM). IEEE, 2021. http://dx.doi.org/10.1109/icarm52023.2021.9536055.

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Rojas, Maureen, Novel Certad, Jose Cappelletto, and Juan Carlos Grieco. "Foothold Planning and Gait Generation for a Hexapod Robot Traversing Terrains with Forbidden Zones." In 2015 12th Latin American Robotics Symposium (LARS) and 2015 3rd Brazilian Symposium on Robotics (SBR). IEEE, 2015. http://dx.doi.org/10.1109/lars-sbr.2015.70.

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