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Dissertations / Theses on the topic 'Hexapod'

Author: Grafiati
Published: 4 June 2021
Last updated: 25 July 2025

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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.

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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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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.

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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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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.

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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 sto
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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.

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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, whic
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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.

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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.

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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 semicond
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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.

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8

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 inspi
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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.

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10

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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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.

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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.

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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.

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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
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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.

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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 motio
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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.

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16

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

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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 experiment
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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.

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Thesis (MScEng (Mechanical and Mechatronic Engineering))--University of Stellenbosch, 2011.<br>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 ar
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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.

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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.

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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.

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

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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 numerica
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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.

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Approved for public release; distribution is unlimited.<br>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, alternatin
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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.

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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.

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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.

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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.

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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
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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.

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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 co
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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.

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Thesis(M.S.)--Case Western Reserve University, 2010<br>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
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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.

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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, c
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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.

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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.

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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 d
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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.

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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
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33

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

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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 ce
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34

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

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

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El texto completo de este trabajo no está disponible en el Repositorio Académico UPC por restricciones de la casa editorial donde ha sido publicado.<br>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
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36

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

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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
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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.

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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.

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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 utilizatio
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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.

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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 s
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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.

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<p> 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 th
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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.

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"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
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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.

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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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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.

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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.

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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 complicat
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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.

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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.

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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.

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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 fo
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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.

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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.

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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.

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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 an
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