Log in

Relevant bibliographies by topics / Hexapod / Dissertations / Theses

To see the other types of publications on this topic, follow the link: Hexapod.

Dissertations / Theses on the topic 'Hexapod'

Author: Grafiati

Published: 4 June 2021

Last updated: 22 November 2023

Create a spot-on reference in APA, MLA, Chicago, Harvard, and other styles

Select a source type:

Consult the top 50 dissertations / theses for your research on the topic 'Hexapod.'

Next to every source in the list of references, there is an 'Add to bibliography' button. Press on it, and we will generate automatically the bibliographic reference to the chosen work in the citation style you need: APA, MLA, Harvard, Chicago, Vancouver, etc.

You can also download the full text of the academic publication as pdf and read online its abstract whenever available in the metadata.

Browse dissertations / theses on a wide variety of disciplines and organise your bibliography correctly.

1

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.

Full text

Abstract:

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.

APA, Harvard, Vancouver, ISO, and other styles

2

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.

Full text

Abstract:

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.

APA, Harvard, Vancouver, ISO, and other styles

3

Wallnäs, Ola. "Hexapod för positionering av solcellspaneler." Thesis, KTH, Maskinkonstruktion (Inst.), 2013. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-175788.

Full text

Abstract:

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.

APA, Harvard, Vancouver, ISO, and other styles

4

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.

Full text

Abstract:

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.

APA, Harvard, Vancouver, ISO, and other styles

5

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.

Full text

APA, Harvard, Vancouver, ISO, and other styles

6

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.

Full text

Abstract:

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.

APA, Harvard, Vancouver, ISO, and other styles

7

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.

Full text

APA, Harvard, Vancouver, ISO, and other styles

8

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

Full text

Abstract:

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.

APA, Harvard, Vancouver, ISO, and other styles

9

Chen, Jiqing. "Hexapod machines : stiffness analysis, simulation & design." Thesis, University of Salford, 2004. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.412613.

Full text

APA, Harvard, Vancouver, ISO, and other styles

10

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

Full text

APA, Harvard, Vancouver, ISO, and other styles

11

Darbha, Naga Harika. "An Optimization Strategy for Hexapod Gait Transition." Wright State University / OhioLINK, 2017. http://rave.ohiolink.edu/etdc/view?acc_num=wright1514915943875043.

Full text

APA, Harvard, Vancouver, ISO, and other styles

12

Kauschinger, Bernd. "Verbesserung der Bewegungsgenauigkeit an einem Hexapod einfacher Bauart /." Dresden : Inst. für Werkzeugmaschinen und Steuerungstechnik, Lehrstuhl für Werkzeugmaschinen, 2006. http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&doc_number=014870612&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA.

Full text

APA, Harvard, Vancouver, ISO, and other styles

13

Georgiades, Christina. "Simulation and control of an underwater hexapod robot." Thesis, McGill University, 2005. http://digitool.Library.McGill.CA:80/R/?func=dbin-jump-full&object_id=82489.

Full text

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 of the robot based on its paddle oscillations. The most difficult aspect of this simulation was the characterization of the forces generated by the paddles oscillating in the water. In this work, a model predicting the forces produced by an oscillating rigid paddle was developed and validated experimentally. Also, the forces produced by a flexible fin were determined experimentally and were compared to those generated by the rigid paddle. Rigid paddle and flexible fin experiments were performed on an experimental setup, which was designed and built to measure the forces and torques produced by a paddle oscillating in a water tank. Finally, a simulation of the AQUA robot was developed, based on the validated rigid paddle model.

APA, Harvard, Vancouver, ISO, and other styles

14

Campbell, Donald 1978. "Bounding and stair descent in the hexapod RHex." Thesis, McGill University, 2004. http://digitool.Library.McGill.CA:80/R/?func=dbin-jump-full&object_id=80001.

Full text

Abstract:

RHex is a man-packable, six-legged robotic platform capable of traversing highly varied and rugged terrain, as well as running up to five body lengths per second. This thesis describes the development of two gaits for RHex: bounding and stair descent. The procedures involved in the development of these gaits are the analysis of video footage of experimental operation and logged-data analysis. Important elements of the functioning bounding gait are proper touchdown detection and energy storage in the compliant legs. For stair descent, the important element is control of the sliding motion of the robot body on the stair. A description of the platform is also presented.

APA, Harvard, Vancouver, ISO, and other styles

15

Davis, Robert B. "Insights into hexapod diversification using the supertree approach." Thesis, University of York, 2009. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.533535.

Full text

APA, Harvard, Vancouver, ISO, and other styles

16

Feeney, Michael Edward. "OPTIMIZATION AND MODELING TOOLS FOR TELESCOPE HEXAPOD STRUCTURES." DigitalCommons@CalPoly, 2011. https://digitalcommons.calpoly.edu/theses/512.

Full text

Abstract:

Hexapod trusses are an important element in many mechanical design systems. The natural frequency and stiffness behavior under geometric and mass variations of such structures is largely undocumented. Furthermore, the ability to quickly model hexapod designs and explore a large design-space in finite element software packages is, in general, time consuming and inefficient. The purpose of this project was to develop software tools that made design-space exploration (modeling and simulation processes) for hexapod structures drastically more efficient. Secondly, the project included an experimental analysis portion to demonstrate the various modal study techniques and to validate finite element analysis predictions. Lastly, the project investigated a specific hexapod design problem as a means of exhibiting the modeling/optimization software tools and to develop an understanding of the natural frequency behavior of hexapods. To this end, the research could be used for the design of telescope secondary support structures and other hexapod optimization engineering problems.

APA, Harvard, Vancouver, ISO, and other styles

17

Janse, van Vuuren Frank. "Design of a hexapod mount for a radio telescope." Thesis, Stellenbosch : University of Stellenbosch, 2011. http://hdl.handle.net/10019.1/6693.

Full text

Abstract:

Thesis (MScEng (Mechanical and Mechatronic Engineering))--University of Stellenbosch, 2011.
ENGLISH ABSTRACT: The world's astronomy community is working together to build the largest and most sensitive radio telescope in the world namely: the SKA (Square Kilometre Array). It will consist of approximately three thousand dishes which will each require accurate positioning. The Square Kilometer Array has a testbed called the Phased Experimental Demonstrator (PED) in Observatory, Cape Town. A hexapod positioning mechanism is required to position a 3.7 m radio telescope which forms part of an array of seven radio telescopes. This thesis details the design process of the hexapod system. The design consists of the mechanical design of the joints and linear actuators, a kinematic and dynamic model, a controller and a user interface. In order to verify the design for the PED hexapod a scaled prototype was designed, built and tested. The hexapod's repeatability as well as ability to track a path was tested using an inclinometer. The tests confirmed the design feasibility of the PED hexapod and also highlight issues that require care when constructing the full scale hexapod, such as the amount of play in the platform joints. The designed full scale hexapod will have an error angle less than 0.13°, a payload capacity of 45 kg, withstand wind speeds of 110 km/h and cost R160 000.
AFRIKAANSE OPSOMMING: Die wêreld se sterrekundige gemeenskap is besig om saam te werk om die grootste en mees sensitiewe radioteleskoop in die wêreld te bou, naamlik: die SKA (Square Kilometre Array). Dit sal uit ongeveer drie duisend skottels bestaan wat elkeen akkurate posisionering benodig. Die SKA het 'n toetssentrum, genaamd die “Phased Experimental Demonstrator” in Observatory, Kaapstad. 'n Sespoot posisionering meganisme word benodig om die 3.7 m radioteleskoop te posisioneer, wat deel vorm van 'n stelsel van sewe radioteleskope. Hierdie tesis beskryf die proses om die sespoot stelsel te ontwerp. Die ontwerp bestaan uit die meganiese komponent van die koppelings en lineêre aktueerders, 'n kinematiese en dinamiese model, 'n beheerder, asook 'n gebruikersintervlak. 'n Geskaleerde prototipe is ontwerp, gebou en getoets om die ontwerp te verifieer. Die platform se herhaalbaarheid sowel as akkuraatheid om 'n pad te volg was getoets met 'n oriëntasie sensor. Die toetse het probleme uitgelig wat versigtig hanteer moet word gedurende die konstruksie van die volskaalse sespoot, veral die hoeveelheid speling in die koppelings. Die volskaalse sespoot ontwerp het 'n hoek fout van minder as 0.13°, 'n ladingsvermoë van 45 kg en kan 'n windspoed van 110 km/h weerstaan en kos R160 000.

APA, Harvard, Vancouver, ISO, and other styles

18

Lewinger, William Anthony. "Neurobiologically-based Control System for an Adaptively Walking Hexapod." Case Western Reserve University School of Graduate Studies / OhioLINK, 2011. http://rave.ohiolink.edu/etdc/view?acc_num=case1295655329.

Full text

APA, Harvard, Vancouver, ISO, and other styles

19

Schue, Charles Andrew. "Simulation of tripod gaits for a hexapod underwater walking machine /." Monterey, Calif. : Springfield, Va. : Naval Postgraduate School ; Available from National Technical Information Service, 1993. http://handle.dtic.mil/100.2/ADA271719.

Full text

APA, Harvard, Vancouver, ISO, and other styles

20

Dunton, Elizabeth Marie. "Kinematic and stability motion limits for a hexapod walking machine." Thesis, Monterey, Calif. : Springfield, Va. : Naval Postgraduate School ; Available from National Technical Information Service, 1995. http://handle.dtic.mil/100.2/ADA295654.

Full text

Abstract:

Thesis (M.S. in Computer Science) Naval Postgraduate School, March 1995.
"March 1995." Thesis advisor(s): Robert B. McGhee, Michael J. Zyda. Includes bibliographical references. Also available online.

APA, Harvard, Vancouver, ISO, and other styles

21

Chiu, Olivia. "A stability and control system for a hexapod underwater robot." Thesis, McGill University, 2009. http://digitool.Library.McGill.CA:80/R/?func=dbin-jump-full&object_id=32272.

Full text

Abstract:

Aqua is an underwater hexapod robot that uses paddles to propel and orient itself. The system is highly non-linear and coupled, and thus far a controller has not been implemented on the robot. In this work, three different controllers were developed and utilized on the robot. The design of a controller for the vehicle began with the development of a stability augmentation system (SAS). In order to study the stability of the system, the model needed to be linearized and this was accomplished using numerical differentiation by finite differences. Using this method state space matrices were derived for three different steady state velocities and corresponding SAS's were designed based on the system's eigenvalues. These SAS's were implemented in a non-linear simulation and were shown to need further refinement. The refined SAS's were then designed and were successfully implemented on the physical robot in fresh and sea water. The design of an autopilot to operate with the SAS followed which included a proportional and a proportional-integral controller. The controllers were tested in simulation and in experiment with inconsistent results. Finally, the SAS was modified to compensate for possible faults that may occur during the operation of the robot. It was found that the original SAS was sufficiently robust to compensate for the case of a missing flipper. However, the case of a flipper stuck at a fixed angle required a modification to the SAS and this was accomplished by analyzing the additional drag forces created by the fault. The modified SAS was implemented on the robot in a set of experiments with successful results.
Aqua est un robot hexapode sous-marin utilisant des palmes comme moyen de propulsion et de direction. Ce robot forme un système non linéaire et couplé, et présentement il n'y a pas un contrôleur sur le robot. Dans cette oeuvre, trois contrôleurs différents ont été développé et implanté sur le robot. La conception du contrôleur a débuté par le développement d'un système d'augmentation de stabilité (SAS). Pour étudier la stabilité du système, le modèle a été linéarisé, ceci par une méthode de différences finis. Avec cette méthode, les matrices du système ont été obtenues pour trois vitesses différentes et les SAS's ont été conçu a partir des valeurs propres de système. Ces SAS's ont été utilisés dans les simulations non linéaire et ils ont dû être ajustés. Ces SAS's ont été implantés sur le robot en eau douce et salée. Puis un contrôleur de pilote automatique a été conçu pour fonctionner avec le SAS, incluant des contrôleurs proportionnels et proportionnel-intégrales. Les contrôleurs ont été utilisés en simulation et en expérience avec les résultats variables. Finalement, le SAS a été modifié pour compenser les fautes possibles qui peuvent se passer pendent l'utilisation du robot. On a trouvé que le SAS original était suffisamment robuste pour compenser pour la faute d'une palme manquante. Mais, pour le cas d'une palme coincée à un angle fixe, il a fallu modifier le SAS. Ceci a été fait à partir d'une analyse des forces additionnelles créées par la faute. Le SAS modifié a été mis en pratique sur le robot avec des résultats positifs.

APA, Harvard, Vancouver, ISO, and other styles

22

Schue, Charles Andrew III. "Simulation of tripod gaits for a hexapod underwater walking machine." Thesis, Monterey, California. Naval Postgraduate School, 1993. http://hdl.handle.net/10945/39841.

Full text

Abstract:

Approved for public release; distribution is unlimited.
This thesis develops the mathematical relationships necessary to implement alternating tripod gaits on the hexapod underwater walking machine, AquaRobot. Analysis of documentation and application of Denavit-Hartenberg kinematic modeling techniques determine the fundamental vehicle parameters. Smooth leg motion models following elliptical and cycloidal trajectories are devised. Gait planning algorithms, using the elliptical smooth leg motion model, are developed for both discrete and continuous body motion. Statically stable, alternating tripod gait simulations are implemented in the C + + programming language. A stick figure graphics display allows examination and testing of the gait algorithms prior to incorporation in follow-on 3D graphics simulations or in real-time operation.

APA, Harvard, Vancouver, ISO, and other styles

23

Prigg, David B. "DESIGN OF A HYDRAULICALLY-ACTUATED HEXAPOD ROBOT FOR ORGANIC FARMING." Case Western Reserve University School of Graduate Studies / OhioLINK, 2020. http://rave.ohiolink.edu/etdc/view?acc_num=case1588002562729248.

Full text

APA, Harvard, Vancouver, ISO, and other styles

24

Lin, Haomin. "Disturbance attenuation in precise hexapod pointing control using positive force feedback." Laramie, Wyo. : University of Wyoming, 2005. http://proquest.umi.com/pqdweb?did=990288531&sid=1&Fmt=2&clientId=18949&RQT=309&VName=PQD.

Full text

APA, Harvard, Vancouver, ISO, and other styles

25

Esteban, Ignacio. "Anforderungsgerechte Optimierung von Hexapod-Strukturen für Werkzeugmaschinen mit Hilfe genetischer Algorithmen /." Esslingen : Eigenverl, 2007. http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&doc_number=016370554&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA.

Full text

APA, Harvard, Vancouver, ISO, and other styles

26

Moore, Edward Z. "Leg design and stair climbing control for the RHex robotic Hexapod." Thesis, McGill University, 2002. http://digitool.Library.McGill.CA:80/R/?func=dbin-jump-full&object_id=33981.

Full text

Abstract:

The goals of the research in this thesis are twofold. First, I designed and tested a stair-traversing controller, which allows RHex to ascend and descend a wide variety of human sized stairs. I tested the stair-ascending controller on nine different flights of stairs, and the stair-descending controller on four different flights of stairs. Rhex was run ten times on each flight, and met with only a single failure out of the one-hundred-and-thirty attempts. Second, we built and tested three competing leg designs. The second and third leg designs proved adequate for use on RHex, enabling dynamic and off road behaviors. The stair controller and leg design processes both drew on lessons from biology, in a process in we call "functional biomimesis". This framework guided us while we mimicked the functionally important features of animal morphology and behavior, while ignoring those features that are irrelevant to locomotion. We compared these advances with previous work in the field, including work on wheeled and tracked vehicles, as well as stair-traversing legged robots. Finally, RHex is a new robot, so we present an overview of RHex's basic mechanical and electrical designs.

APA, Harvard, Vancouver, ISO, and other styles

27

Bodenstein, Fabian. "Control of a hydraulic hexapod robot used in a rehabilitation application." Master's thesis, Pontificia Universidad Católica del Perú, 2015. http://tesis.pucp.edu.pe/repositorio/handle/123456789/8138.

Full text

Abstract:

In the last decades, the quantity of robot applications has increased enormously in various areas of operation. Their advantages like automation and accuracy are interesting for health care, as well. Besides of surgery and patient transportation, robots can be used for therapy, too. This master thesis presents an analytical model of a hydraulic hexapod robot, which is intended to be used as a gait trainer in a rehabilitation application. In order to prove the model, a measurement of all actuators is performed. They prove the linear plant characteristic caused by an installed pressure compensator. Consequently, a suitable decoupled state space control and an observer are developed and simulated. Considering the velocity and the control effort, the feedforward linear-quadratic state space controller shows the best system performance. The tests permit a model simplification and exhibit the negligible influence of small loads. The potential of the hexapod robot has to be considered regarding the further development of the periphery. Doing so, the presented controller can be implemented and the robot can be used in many areas.
Tesis

APA, Harvard, Vancouver, ISO, and other styles

28

Diller, Eric David. "Design of a Biologically-Inspired Climbing Hexapod Robot for Complex Maneuvers." Cleveland, Ohio : Case Western Reserve University, 2010. http://rave.ohiolink.edu/etdc/view?acc_num=case1259960651.

Full text

Abstract:

Thesis(M.S.)--Case Western Reserve University, 2010
Title from PDF (viewed on 2010-01-28) Department of EMC - Mechanical Engineering Includes abstract Includes bibliographical references and appendices Available online via the OhioLINK ETD Center

APA, Harvard, Vancouver, ISO, and other styles

29

Agheli, Hajiabadi Mohammad Mahdi. "Analytical Workspace, Kinematics, and Foot Force Based Stability of Hexapod Walking Robots." Digital WPI, 2013. https://digitalcommons.wpi.edu/etd-dissertations/158.

Full text

Abstract:

Many environments are inaccessible or hazardous for humans. Remaining debris after earthquake and fire, ship hulls, bridge installations, and oil rigs are some examples. For these environments, major effort is being placed into replacing humans with robots for manipulation purposes such as search and rescue, inspection, repair, and maintenance. Mobility, manipulability, and stability are the basic needs for a robot to traverse, maneuver, and manipulate in such irregular and highly obstructed terrain. Hexapod walking robots are as a salient solution because of their extra degrees of mobility, compared to mobile wheeled robots. However, it is essential for any multi-legged walking robot to maintain its stability over the terrain or under external stimuli. For manipulation purposes, the robot must also have a sufficient workspace to satisfy the required manipulability. Therefore, analysis of both workspace and stability becomes very important. An accurate and concise inverse kinematic solution for multi-legged robots is developed and validated. The closed-form solution of lateral and spatial reachable workspace of axially symmetric hexapod walking robots are derived and validated through simulation which aid in the design and optimization of the robot parameters and workspace. To control the stability of the robot, a novel stability margin based on the normal contact forces of the robot is developed and then modified to account for the geometrical and physical attributes of the robot. The margin and its modified version are validated by comparison with a widely known stability criterion through simulated and physical experiments. A control scheme is developed to integrate the workspace and stability of multi-legged walking robots resulting in a bio-inspired reactive control strategy which is validated experimentally.

APA, Harvard, Vancouver, ISO, and other styles

30

Espenschied, Kenneth Scot. "Biologically-inspired control of an insect-like hexapod robot on rough terrain." Case Western Reserve University School of Graduate Studies / OhioLINK, 1994. http://rave.ohiolink.edu/etdc/view?acc_num=case1061220984.

Full text

APA, Harvard, Vancouver, ISO, and other styles

31

Rosano-Matchain, Hugo Leonardo. "Decentralised compliant control for hexapod robots : a stick insect based walking model." Thesis, University of Edinburgh, 2007. http://hdl.handle.net/1842/2574.

Full text

Abstract:

This thesis aims to transfer knowledge from insect biology into a hexapod walking robot. The similarity of the robot model to the biological target allows the testing of hypotheses regarding control and behavioural strategies in the insect. Therefore, this thesis supports biorobotic research by demonstrating that robotic implementations are improved by using biological strategies and these models can be used to understand biological systems. Specifically, this thesis addresses two central problems in hexapod walking control: the single leg control mechanism and its control variables; and the different roles of the front, middle and hind legs that allow a decentralised architecture to co-ordinate complex behavioural tasks. To investigate these problems, behavioural studies on insect curve walking were combined with quantitative simulations. Behavioural experiments were designed to explore the control of turns of freely walking stick insects, Carausius morosus, toward a visual target. A program for insect tracking and kinematic analysis of observed motion was developed. The results demonstrate that the front legs are responsible for most of the body trajectory. Nonetheless, to replicate insect walking behaviour it is necessary for all legs to contribute with specific roles. Additionally, statistics on leg stepping show that middle and hind legs continuously influence each other. This cannot be explained by previous models that heavily depend on positive feedback controllers. After careful analysis, it was found that the hind legs could actively rotate the body while the middle legs move to the inside of the curve, tangentially to the body axis. The single leg controller is known to be independent from other legs but still capable of mechanical synchronisation. To explain this behaviour positive feedback controllers have been proposed. This mechanism works for the closed kinematic chain problem, but has complications when implemented in a dynamic model. Furthermore, neurophysiological data indicate that legs always respond to disturbances as a negative feedback controller. Additional experimental data presented herein indicates that legs continuously oppose forces created by other legs. This thesis proposes a model that has a velocity positive feedback control modulated via a subordination variable in cascade with a position negative feedback mechanism as the core controller. This allows legs to oppose external and internal forces without compromising inter-leg collaboration for walking. The single leg controller is implemented using a distributed artificial neural network. This network was trained with a wider range of movement to that so far found in the simulation model. The controller implemented with a plausible biological.

APA, Harvard, Vancouver, ISO, and other styles

32

Khudher, Dhayaa Raissan. "Synthesis of continuous whole-body motion in hexapod robot for humanitarian demining." Thesis, Brunel University, 2018. http://bura.brunel.ac.uk/handle/2438/16508.

Full text

Abstract:

In the context of control, the motion of a legged robot is very challenging compared with traditional fixed manipulator. Recently, many researches have been conducted to control the motion of legged robot with different techniques. On the other hand, manipulation tasks have been addressed in many applications. These researches solved either the mobility or the manipulation problems, but integrating both properties in one system is still not available. In this thesis, a control algorithm is presented to control both locomotion and manipulation in a six legged robot. Landmines detection process is considered as a case study of this project to accelerate the mine detection operation by performing both walking and scanning simultaneously. In order to qualify the robot to perform more tasks in addition to the walking task, the joint redundancy of the robot is exploited optimally. The tasks are arranged according to their importance to high level of priority and low level of priority. A new task priority redundancy resolution technique is developed to overcome the effect of the algorithmic singularities and the kinematic singularity. The computational aspects of the solution are also considered in view of a real-time implementation. Due to the dynamic changes in the size of the robot motion space, the algorithm has the ability to make a trade-off between the number of achieved tasks and the imposed constraints. Furthermore, an appropriate hierarchy is imposed in order to ensure an accurate decoupling between the executed tasks. The dynamic effect of the arm on the overall performance of the robot is attenuated by reducing the optimisation variables. The effectiveness of the method is evaluated on a Computer Aided Design (CAD) model and the simulations of the whole operation are conducted using MATLAB and SimMechanics.

APA, Harvard, Vancouver, ISO, and other styles

33

Kalas, Vinayak Jagannathrao. "Application-oriented optimization of robot elastostatic calibration : implementation on hexapod positioning systems." Thesis, Montpellier, 2020. http://www.theses.fr/2020MONTS018.

Full text

Abstract:

Les hexapodes sont de plus en plus utilisés pour des applications de positionnement de haute précision à 6 degrés de liberté, comme pour le positionnement des miroirs des télescopes ou pour le positionnement des échantillons dans les synchrotrons. Ces robots sont conçus et commandés pour faire preuve de grande répétabilité et de grande justesse. Cependant, la souplesse structurelle de ces systèmes de positionnement limite leur précision de positionnement. Comme les exigences de précision deviennent de plus en plus strictes dans les applications émergentes, il devient nécessaire de compenser ces déformations.À cet égard, tout d'abord, une méthode d'étalonnage élastostatique des hexapodes est présentée. Cette méthode utilise un modèle de paramètre de rigidité forfaitaire pour paramétrer la relation entre les flèches de la plate-forme et la force / le moment qui lui est appliqué. Ces paramètres peuvent être estimés à l'aide de mesures de déflexion effectuées en utilisant des forces / moments connus appliqués sur la plate-forme. Les paramètres estimés peuvent ensuite être utilisés pour prévoir et corriger les erreurs de positionnement des hexapodes dues à la conformité.Deuxièmement, une nouvelle approche est présentée pour optimiser le processus d’identification des paramètres de raideur de l’étalonnage élastostatique. Cette approche repose sur l’utilisation de critères qui permettent de déterminer le meilleur ensemble de poses et de forces pour identifier les paramètres de raideur. Les paramètres identifiés dans les conditions expérimentales (poses et forces) suggérées par ces critères permettent une contribution minimum des erreurs influençant l’identification des raideurs (incertitude des mesures des déflections et erreurs des forces appliquées) sur la qualité de la compensation. De plus, suivre cette approche maximise également la précision après compensation aux poses souhaitées, le long des axes souhaités, et avec les combinaisons force/moment souhaitées sur la plateforme. Ce cadre d’optimisation pour l’identification des raideurs assure la meilleure compensation des erreurs de positionnement dues à la souplesse structurelle, selon les exigences de positionnement de l’application en question.Enfin, une méthode est présentée qui permet de s’affranchir des effets dues à la thermique sur la mesure des 6 degrés de liberté de la pose de la plateforme d’un hexapode. Cette méthode est nécessaire lorsque les déflections dues à la thermique de l’hexapode sont suffisamment importantes pour avoir un impact sur les résultats d’une étude, ce qui était le cas avec certains des tests effectués pour valider les méthodes développées dans cette thèse.L’efficacité des méthodes présentées a été validée au moyen d’études en simulation sur un bipède, et d’études expérimentales sur un système de positionnement hexapode de haute précision
Hexapods are increasingly being used for high-precision 6-DOF positioning applications such as for positioning mirrors in telescopes and for positioning samples in synchrotrons. These robots are designed and controlled to be very repeatable and accurate. However, structural compliance of these positioning systems limits their positioning accuracy. As accuracy requirements become more stringent in emerging applications, compensating for inaccuracy due to structural compliance becomes necessary.In this regard, firstly, a method for elastostatic calibration of hexapods is presented. This method uses a lumped stiffness parameter model to parametrize the relationship between the platform deflections and the force/moment applied on it. These parameters can be estimated using deflection measurements performed using known forces/moments applied on the platform. The estimated parameters can then be used to predict and correct hexapod’s positioning errors due to compliance.Secondly, a new approach is presented to optimize stiffness identification for robot elastostatic calibration. In this, a framework is proposed to formulate criteria to choose best set of poses and forces for stiffness identification experiment. The parameters identified under experimental conditions (poses and forces) suggested by these criteria ensure minimum impact of errors influencing stiffness identification (uncertainty of deflection measurements and errors in forces applied) on compensation quality. Additionally, it also maximizes accuracy after compensation at desired pose(s), along desired axe(s) of the platform and with desired forces/moments on the platform. This stiffness identification optimization framework ensures best compensation for positioning errors due to compliance as per the positioning requirements of the application at hand.Lastly, a method is presented to eliminate the influence of thermal deflection of a hexapod on the measured 6-DOF pose of its platform. This method is necessary when thermal deflections of the hexapod are large enough to impact results of a study, which was the case with some tests performed to validate methods developed in this thesis.The efficacy of presented methods have been validated by means of simulation studies on a bipod and experimental studies on a high-precision hexapod positioning system

APA, Harvard, Vancouver, ISO, and other styles

34

Kang, Donghyeon. "Control of a hexapod robot equipped with proximity, anemoscope, and CO2 sensors." Kyoto University, 2008. http://hdl.handle.net/2433/136632.

Full text

Abstract:

Kyoto University (京都大学)
0048
新制・課程博士
博士(農学)
甲第13905号
農博第1720号
新制||農||957(附属図書館)
学位論文||H20||N4372(農学部図書室)
UT51-2008-C821
京都大学大学院農学研究科地域環境科学専攻
(主査)教授梅田幹雄, 教授近藤直, 准教授中嶋洋
学位規則第4条第1項該当

APA, Harvard, Vancouver, ISO, and other styles

35

Abarca, Arnold, Grimaldo Quispe, Gianpierre Zapata-Ramirez, Carlos Raymundo-Ibanez, and Luis Rivera. "Design of a hexapod robot using artificial intelligence for the routes of the peruvian andes." Institute of Electrical and Electronics Engineers Inc, 2019. http://hdl.handle.net/10757/656283.

Full text

Abstract:

El texto completo de este trabajo no está disponible en el Repositorio Académico UPC por restricciones de la casa editorial donde ha sido publicado.
This paper presents an alternative solution to improve the locomotion system of a hexapod robot by artificial intelligence. Through an optimal design to achieve static stability, dynamic stability and optimize energy consumption through an autonomous system that is able to perform trajectories without any inconvenience. For the robot to move without flaws has certain restrictions in design (weight, size, materials, etc.) The hexapod has a high degree of movement and this allows many trajectories handle at the time of travel. Using sensors under certain working conditions we will obtain the necessary data and signals to satisfactorily comply with the hexapod robot design.
Revisión por pares

APA, Harvard, Vancouver, ISO, and other styles

36

Dwolinski, Thomas. "Multiaxialer Räderprüfstand - Auslegung eines hoch dynamischen Hexapoden mittels moderner Simulationswerkzeuge." Technische Universität Chemnitz, 2018. https://monarch.qucosa.de/id/qucosa%3A21396.

Full text

Abstract:

Der neu entwickelte Multiaxiale Räderprüfstand wurde für hoch dynamische Radkräfte konzipiert. Das Prüfstands-Konzept basiert auf einer Parallelkinematik im Hexapoden-Design. Die Auslegung der Kinematik und der Kräfte wurde mit Creo MDO/MDX durchgeführt. Die grundsätzliche Vorgehensweise wird anhand von Beispielen aufgezeigt. Aufgrund der hohen Dynamik ist es erforderlich das maschinendynamische Verhalten bei der Auslegung zu berücksichtigen. Dazu wurde ein Simulationsmodell des gesamten Prüfstandes in Creo Simulate erstellt und entsprechende Modal- und dynamische Frequenzanalysen durchgeführt. Der grundsätzliche Modellaufbau und Simulationsergebnisse werden vorgestellt. Auch auf die Verifizierung durch Messungen wird eingegangen. Letzter Punkt ist das Ableiten eines geeigneten Sub-Simulations-Modells, welches den Kraftfluss der Hexapoden-Architektur für weitere Untersuchungen richtig abbildet.

APA, Harvard, Vancouver, ISO, and other styles

37

Kristiansen, Karl Johann Ragnar Wrussell. "A computer simulation of vehicle and actuator dynamics for a hexapod walking robot." Thesis, Monterey, Calif. : Springfield, Va. : Naval Postgraduate School ; Available from National Technical Information Service, 1994. http://handle.dtic.mil/100.2/ADA280784.

Full text

APA, Harvard, Vancouver, ISO, and other styles

38

Cuneyitoglu, Ozkul Mine. "Acoustic Perception Through The Ground Interaction Of Compliant Legs Of A Hexapod Robot." Master's thesis, METU, 2012. http://etd.lib.metu.edu.tr/upload/12614028/index.pdf.

Full text

Abstract:

A dynamically dexterous legged robot platform generates specific acoustic signals during the interaction with the ground and the environment. These acoustic signals are expected to contain rich information that is related to the interaction surface as a function of the position of the legs and the overall contact process mixed with the actuator sounds that initiate the movement. As the robot platform walks or runs in any environment, this convolved acoustic signal created can be processed and analyzed in real time operation and the interaction surface can be identified. Such an utilization of acoustic data can be possible for various indoor and outdoor surfaces and with this can be useful in adjusting gait parameters that play an essential role in dynamic dexterity. In this work, surface type identification is achieved with using the several popular signal processing and pattern classification methods not on the robot platform but off-line. The performances of the selected features and the algorithms are evaluated for the collected data sets and these outputs are compared with the expectations. Depending on the off-line training and experiment results, the applicability of the study to an embedded robot platform as a future application is found quite feasible and the surface type as an input to the robot sensing is expected to improve the mobility of the robot in both indoor and outdoor environment.

APA, Harvard, Vancouver, ISO, and other styles

39

Görries, Simon. "ATHENA Space Telescope: Line of Sight Control with a Hexapod in the Loop." Thesis, KTH, Optimeringslära och systemteori, 2017. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-215922.

Full text

Abstract:

The Advanced Telescope for High-Energy Astrophysics, Athena, is an x-ray telescope with a 2000 kg mirror module mounted on a six degree of freedom hexapod mechanism. It is currently assessed in a phase A feasibility study as L-class mission in the European Space Agency’s Cosmic Vision 2015-2025 plan with a launch foreseen in 2028. The total mass of the spacecraft is approximately 8000 kg, which is mainly distributed to the mirror module on the one side and to the focal plane module on the other side of the telescope tube. Such a design is without precedent in any European mission and imposes several challenges on analysis and design of the complex line of sight pointing control system with the moving mirror module in the loop. Not only does the moving mirror mass lead to time-variant parameter uncertainties of the system (inertia), but also does the hexapod motion complicate the guidance algorithms and induce complex disturbances onto the SC attitude dynamics. These challenges have been approached in this thesis in three steps. First, a Matlab®/Simulink® library has been built up, including all components required to model a hexapod in pointing control simulations. This Hexapod Simulation Library includes a complete hexapod kinematic model, a simplified hexapod actuator model, a spacecraft attitude dynamic model with the hexapod in the loop, state determination algorithms with the hexapod in the loop as well as online guidance algorithms for combined spacecraft and hexapod maneuvers. Second, different operational scenarios have been designed and analyzed for comparison. Third, closed-loop pointing control simulations for a representative reference case study similar to the Athena spacecraft have been performed for first feasibility analysis and performance comparison of the different operational scenarios. With these simulations, first, the time-variant parameter uncertainties and complex disturbance torques caused by the moving mirror mass have been characterized. Thereby, the disturbance noise induced by hexapod actuator step quantization has been identified as a potential design driver that needs to be analyzed further in early phases of the project. Second, feasibility of a baseline pointing control concept has been shown, i.e. performing hexapod and spacecraft maneuvers sequentially in time. And third, possible improvements to the baseline concept have been analyzed providing up to 27% faster transition time between two observations for the simulated scenario by performing hexapod and spacecraft maneuvers simultaneously and applying a path optimized spacecraft trajectory.
Teleskopet Athena, The Advanced Telescope for High-Energy Astrophysics, är ett röntgenteleskop med en spegelmodul som väger 2000 kg monterat på en struktur med sex frihetsgrader. I dagsläget pågår en förstudie av teleskopet som en L-klass mission inom European Space Agencys Cosmic Vision 2015-2025 med planerad uppskjutning år 2028. Satelliten väger totalt 8000 kg vilket huvudsakligen fördelas mellan spegelmodulen på ena sidan och fokalplansmodulen på andra sidan av teleskopet. Tidigare har inga europeiska projekt använt sig av en liknande design och det medför utmaningar i analys och design av styrsystemet med den rörliga spegeln medräknad. Dels leder spegelns massa till tidsvarianta osäkerheter i systemets parametrar men även den hexapoda monteringsanordningen komplicerar styralgoritmerna och medför komplexa störningar i satellitens attityd. Dessa problem behandlas i denna rapport i tre steg. Först har ett Matlab®/Simulink® bibliotek byggts upp där alla delar som krävs för att skapa en modell av en hexapod i simuleringen av styrsystemet ingår. Detta bibliotek innefattar en komplett kinematik-modell för en hexapod, en förenklad ställdonsmodell, en dynamisk modell av satellitens attityd, tillståndsbestämning samt styralgoritmer för kombinerade rörelser av satelliten och hexapoden. Därefter designas, analyseras och jämförs olika operativa scenarier. Slutligen simulerades det återkopplade styrsystemet för en representativ fallstudie som liknar Athena för en första genomförbarhetsanalys samt jämförelse av prestanda mellan olika scenarier. Med dessa simuleringar har först de tidsvarianta osäkerheter i systemets parametrar och störningsmoment orsakade av spegelns rörelser karakteriserats. Därigenom har störningsbruset från stegkvantiseringen till hexapodens ställdon identifierats som något som potentiellt kan driva designen och därför bör undersökas närmare i projektets tidiga skeden. Därefter har genomförbarheten av ett grundläggande koncept för styrsystemet påvisats, det vill säga manövrera heaxpoden och satelliten sekventiellt i tiden. Möjliga förbättringar till detta koncept har analyserats och gett en 27% snabbare förflyttningstid mellan två observationer i det simulerade scenariot genom att hexapoden och satelliten manövreras samtidigt längst en optimerad bana för satelliten.

APA, Harvard, Vancouver, ISO, and other styles

40

Cafarelli, Ryan. "Energy-efficient Gait Control Schema of a Hexapod Robot with Dynamic Leg Lengths." Thesis, Southern Illinois University at Edwardsville, 2018. http://pqdtopen.proquest.com/#viewpdf?dispub=10684042.

Full text

Abstract:

Walking robots consume considerable amounts of power, which leads to short mission times. Many of the tasks that require the use of walking robots, rather than wheeled, often require extended periods of time between the possibility of charging. Therefore, it is extremely important that, whenever possible, the gait a walking robot uses is as efficient as possible in order to extend overall mission time. Many approaches have been used in order to optimize the gait of a hexapod robot; however, little research has been done on how enabling the leg segments of a hexapod to extend will impact the efficiency of its gait. In this thesis, a joint space model is defined that includes both rotational joints as well as prismatic joints for expanding and contracting individual leg segments. A genetic algorithm (GA) is used to optimize the efficiency of a gait using the joint space based on a tripod gait. Other considerations for the gait include stability and dragging, which affects overall efficiency of a gait. The results of preliminary runs of the GA show the impacts of changing the weights of a multi-objective function, the number of generations, the number of parents retained between generations and the mutation rate. Further experiments show the impact of dynamic leg lengths on the overall efficiency of a hexapod tripod gait.

APA, Harvard, Vancouver, ISO, and other styles

41

Qu, Long. "Realization and Lateral Stable Workspace Analysis of an Axially Symmetric Scalable Hexapod Robot." Digital WPI, 2013. https://digitalcommons.wpi.edu/etd-theses/1037.

Full text

Abstract:

"The maintenance and inspection of societal structures and equipment such as skyscrapers, bridges, and ship hulls are important to maintaining a safe lifestyle. Improper maintanance and delayed inspection can lead to catastrophic failure. In lieu of placing humans in potential harm, mobile robotic machining systems can be used to enable remote repair and maintenance within constrictive, hazardous, and inaccessible environments. Due to their intrinsic high mobility and 6-DOF control, hexapod walking robots are a salient solution to mobile machining. However, the static structure of traditional hexapod robots can be rather limiting when attempting to traverse over irregular terrain or manipulating objects. This research realizes a new scalable hexapod robot and analyzes the lateral stable workspace of the robot under different external loading conditions. The scalable design allows the robot to extend its legs which enhances the workspace and improves stability while manuevering through constrictive and irregular terrain. The design incorporates two additional prismatic joints into the legs of the traditional hexapod robot design providing a compact, rigid, and efficient design. The electronic printed circuit boards were designed and assembled in-house. A distributed control architecture was implemented to off-load low-level leg control to dedicated leg controllers. An analysis on the lateral stable workspace of the scalable hexapod robot under different external loading conditions is presented. A dynamic stable workspace criterion is derived. The stable workspace criterion provides a metric for comparing stable workspaces between hexapod robots with different configurations. Multiple simulations and physical experiments were conducted to demonstrate the advantages of a scalability in hexapod designs."

APA, Harvard, Vancouver, ISO, and other styles

42

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.

Full text

Abstract:

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. Generally speaking, the more general the walking algorithm is, the less constricted the workspace becomes. However, the entire limb workspace cannot be used in a continuous, statically stable, alternating tripedal gait for such a robot; therefore a subset of the limb workspace is dened for walking algorithms. This thesis develops MARS limb workspaces in the knee up conguration, and analyzes its limitations for walking on planar surfaces. The workspaces range from simple 2D geometry to complex 3D volumes. While MARS is a hexapedal robot, the tasks of dening the workspace and walking agorthm for all six limbs can be abstracted to a single limb using the constraint of a tripedal, statically stable gait. Based on understanding the behavior of an individual limb, a walking algorithm was developed to allow MARS to walk on level terrain. The algorithm is adaptive in that it continously updates based on control inputs. Open Tech developed a similar algorithm, based on a 2D workspace. This simpler algorithm developed resulted in smooth gait generation, with near-instantaneous response to control input. This accomplishment demonstrated the feasibility of implementing a more sophisticated algorithm, allowing for inputs of all six DOF: x and y velocity, z velocity or walking height, yaw, pitch and roll. This latter algorithm uses a 3D workspace developed to aord near-maximum step length. The workspace analysis and walking algorithm development in this thesis can be applied to the further advancement of walking gait generation algorithms.
Master of Science

APA, Harvard, Vancouver, ISO, and other styles

43

Rudik, Ruslan. "Untersuchungen zur Entwicklung der Steuerung eines neuartigen Traktorhubwerkes auf der Basis der Hexapod-Mechanismen." Dresden TUDpress, 2005. http://deposit.ddb.de/cgi-bin/dokserv?id=2774351&prov=M&dok_var=1&dok_ext=htm.

Full text

APA, Harvard, Vancouver, ISO, and other styles

44

Cutler, Steven. "Implementation of a Variable Duty Factor Controller on a Six-Legged Axi-Symmetric Walking Robot." Thesis, University of Waterloo, 2006. http://hdl.handle.net/10012/2887.

Full text

Abstract:

Hexplorer is a six-legged walking robot developed at the University of Waterloo. The robot is controlled by a network of seven digital signal processors, six of which control three motors each, for a total of 18 motors. Brand new custom electronics were designed to house the digital signal processors and associated circuitry. A variable duty factor wave gait, developed by Yoneda et al. was simulated and implemented on the robot. Simulation required an in-depth kinematic analysis that was complicated by the mechanical design of parallel mechanism comprising the legs. These complications were handled in both simulation and implementation. However, due to mechanical issues Hexplorer walked for only one or two steps at a time.

APA, Harvard, Vancouver, ISO, and other styles

45

Düsterlohe, Alexander von. "Kinematik, Geometrie und Mathematik des Hexapod-Teleskops Inbetriebnahme und Testmessungen der Hard- und Software /." [S.l.] : [s.n.], 2002. http://deposit.ddb.de/cgi-bin/dokserv?idn=967286905.

Full text

APA, Harvard, Vancouver, ISO, and other styles

46

Rudik, Ruslan. "Untersuchungen zur Entwicklung der Steuerung eines neuartigen Traktorhubwerkes auf der Basis der Hexapod-Mechanismen /." Dresden : TUDpress, Verl. der Wiss, 2006. http://deposit.ddb.de/cgi-bin/dokserv?id=2774351&prov=M&dok_var=1&dok_ext=htm.

Full text

APA, Harvard, Vancouver, ISO, and other styles

47

Christopher, Ross. "Mathematical Modelling and Control System Development of a Remote Controlled, IMU Stabilised Hexapod Robot." Master's thesis, Faculty of Engineering and the Built Environment, 2020. http://hdl.handle.net/11427/32210.

Full text

Abstract:

Walking robots are useful in search and rescue applications due to their ability to navigate uneven and complex terrain. A hexapod robot has been developed by the Robotics and Agents Research Lab at UCT, however multiple inadequacies have become evident. This work aims to produce a mathematical model of the hexapod and using this model, implement an effective control algorithm to achieve a smooth walking motion and overcome the original flaws. The mathematical model was integrated with the mechanical structure of the hexapod and controlled by a micro-controller. This micro-controller allows for a rapid start-up and low power consumption when compared to previous iterations of the hexapod. Using a path generation algorithm sets of foot positions and velocities are generated. Generating these points in real time allows for walking in any direction without any pre-defined foot positions. To enable attitude control of the hexapod body, an inertial measurement unit was added to the hexapod. By using a PID controller the IMU pitch and roll data was used to control a height offset of each foot of the hexapod, allowing for stabilisation of the hexapod body. An improved wireless remote control was developed to facilitate communication with a host computer. The remote system has a graphical user interface allowing for walking control and status information feedback, such as error information and current battery voltage. Walking tests have shown that the hexapod walks successfully with a smooth tripod gait using the path generation algorithm. Stabilisation tests have shown that the hexapod is capable of stabilising itself after a disturbance to its pitch and/or roll in ±2.5 seconds with a steady state error of ±0.001 radians. This proves that the hexapod robot can be controlled wirelessly while walking in any direction with a stabilised body. This is beneficial in search and rescue as the hexapod has a high degree of manoeuvrability to access areas too dangerous for rescuers to access. With cameras mounted on the stabilised body, it can be used to locate survivors in a disaster area and assist rescuers in recovering them with speed.

APA, Harvard, Vancouver, ISO, and other styles

48

Kau, Chin-Cheng. "Adaptive locomotion algorithms for hexapod walking machines to autonomously negotiate irregular large-scale obstacles /." The Ohio State University, 1989. http://rave.ohiolink.edu/etdc/view?acc_num=osu1487668215808206.

Full text

APA, Harvard, Vancouver, ISO, and other styles

49

Kohlstedt, Andreas [Verfasser]. "Modellbasierte Synthese einer hybriden Kraft-/Positionsregelung für einen Fahrzeugachsprüfstand mit hydraulischem Hexapod / Andreas Kohlstedt." Paderborn : Universitätsbibliothek, 2021. http://d-nb.info/1235522784/34.

Full text

APA, Harvard, Vancouver, ISO, and other styles

50

Petruška, Bohumil. "Lineární jednotka s hydraulickým pohonem pro robot s paralelní kinematickou strukturou." Master's thesis, Vysoké učení technické v Brně. Fakulta strojního inženýrství, 2012. http://www.nusl.cz/ntk/nusl-230328.

Full text

Abstract:

This thesis deals with new construction of hydraulic linear drive for paralell kinematics structures of robots. In the first section provides a historical development of robots with this structures. There are also described differences between each machine with this structures and compares them with machines with linear structures. In the second section is made a proposal of hydraulic actuator. Designed actuators are arranged into hexapod. There is also included a proposal of possible solutions to fixing hydraulic actuator to platform and base. This thesis include drawings of selected parts and drawing of a whole set of new designed hydraulic actuator. It is included a block diagram of the hydraulic circuit.

APA, Harvard, Vancouver, ISO, and other styles

We offer discounts on all premium plans for authors whose works are included in thematic literature selections. Contact us to get a unique promo code!