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Journal articles on the topic 'Hexapod'

Author: Grafiati

Published: 4 June 2021

Last updated: 25 July 2025

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1

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

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In this paper, a method is proposed for dynamic balancing of hexapods for high-speed applications. The kinematic structure of the hexapod is based on the parallel mechanism. For high-speed applications, hexapod dynamics is the dominant factor, and dynamic balancing becomes very important. The proposed method is aimed at minimizing the changes in the hexapod inertia over the workspace by utilizing the tool holder attached to the hexapod's end-effector as a counterweight.

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2

Rawal, Deepak. "Enigma of Hexapod Evolution." International Journal of Entomology Research 5, no. 1 (2020): 13–14. https://doi.org/10.5281/zenodo.7598330.

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Modern hexapod diversity represents summation of over 400 million years of high speciation rates and low levels of natural extinction. It seems that nature loves six legs. Out of the million documented species of hexapods, approx 83% are holometabola and largest group (38%) is of Coleoptera (beetles). The gap in the hexapod fossil record is called Hexapod gap. Their origin and evolution is highly debated because there are not enough fossils that directly connect them to the arthropods. Only few fossils found are not enough to precisely solve the mystery of hexapod evolution. There is no doubt

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3

Xi, Fengfeng, Rosario Sinatra, and Wanzhi Han. "Effect of Leg Inertia on Dynamics of Sliding-Leg Hexapods." Journal of Dynamic Systems, Measurement, and Control 123, no. 2 (2001): 265–71. http://dx.doi.org/10.1115/1.1369600.

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In this paper the effect of leg inertia on hexapod dynamics is investigated. Hexapods under investigation are a new type that is made of sliding legs with constant lengths. A complete dynamic model of sliding-leg hexapods is developed including leg inertia. Based on this dynamic model, the effect of leg inertia on hexapod dynamics is investigated in terms of two parameters. The first parameter is the ratio of the total leg mass to the mass of the moving platform, and the second parameter is the acceleration of the moving platform. Numerical studies reveal that the effect of leg inertia may be

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4

Cheah, Wei, Hassan Hakim Khalili, Farshad Arvin, Peter Green, Simon Watson, and Barry Lennox. "Advanced motions for hexapods." International Journal of Advanced Robotic Systems 16, no. 2 (2019): 172988141984153. http://dx.doi.org/10.1177/1729881419841537.

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Advanced motions, which utilize footholds on walls, offer considerably more opportunities for hexapods in accessing confined environment. However, there has been no research on the practical application of such motions on a hexapod. These motions are kinematically viable for the standard hexapod design with three degrees of freedom per leg but the joint requirements have yet to be identified. This article presents the motion analysis for two forms of advanced motion, wall walking and chimney walking, to study the joint requirement for executing such motions. The analysis has been verified thro

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5

Seki, Hiroshi, Yuhi Yamamoto, and Sumito Nagasawa. "The Influence of Micro-Hexapod Walking-Induced Pose Changes on LiDAR-SLAM Mapping Performance." Sensors 24, no. 2 (2024): 639. http://dx.doi.org/10.3390/s24020639.

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Micro-hexapods, well-suited for navigating tight or uneven spaces and suitable for mass production, hold promise for exploration by robot groups, particularly in disaster scenarios. However, research on simultaneous localization and mapping (SLAM) for micro-hexapods has been lacking. Previous studies have not adequately addressed the development of SLAM systems considering changes in the body axis, and there is a lack of comparative evaluation with other movement mechanisms. This study aims to assess the influence of walking on SLAM capabilities in hexapod robots. Experiments were conducted us

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Lee, Sanghwa, Yuri Sohn, Chinkyo Kim, Dong Ryeol Lee, and Hyun-Hwi Lee. "Nanostructural analysis of GaN tripods and hexapods grown onc-plane sapphire." Journal of Applied Crystallography 43, no. 6 (2010): 1300–1304. http://dx.doi.org/10.1107/s0021889810036472.

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The crystallographic and structural characteristics of GaN tripods and hexapods grown onc-plane sapphire substrates were investigated using synchrotron X-ray scattering and microscopic analysis. The core structure of a GaN hexapod is revealed to be in the zincblende phase with an inversion domain, and a refined crystallographic analysis of tripods and hexapods with synchrotron X-ray scattering shows the existence of the zincblende phase in wurtzite-based protruding nanorods. The atomistic model combined with this crystallographic analysis reveals that the core size of a hexapod is much smaller

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7

van Vuuren, Frank Janse, Yoon Soo Kim, and Kristiaan Schreve. "A Low-Cost Stewart Platform for a Radio Telescope." Applied Mechanics and Materials 300-301 (February 2013): 362–70. http://dx.doi.org/10.4028/www.scientific.net/amm.300-301.362.

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Most hexapods that are currently available on the market are expensive and have extremely high positional and orientation accuracies. Although the positional accuracy is high the viewing angle is limited to 60°. These hexapods are designed with a small viewing angle, as they are not optimised for radio telescopes. The aim of this work is to highlight the various factors that should be considered during the design of a 6-3 Stewart platform for pointing applications. These factors are illustrated by presenting the case study of a small custom hexapod that is designed, built and tested. Modelling

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8

Margaritescu, Mihai, Ana Maria Eulampia Ivan, Vlad Vaduva, and Cornel Brisan. "Extended Mobility Carried Out with a Double Hexapod Robot." Solid State Phenomena 166-167 (September 2010): 271–76. http://dx.doi.org/10.4028/www.scientific.net/ssp.166-167.271.

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The double hexapod robot consists in two staged hexapod platforms – Stewart Gough platforms - combining in a certain measure the advantages of the robots with parallel kinematics and of the serial robots: high accuracy, high stiffness, fast response and small dimensions, having an extended operating space. Different modelling and construction aspects were described in few previous articles. Some examples of trajectories generated with this positioning system are now presented to illustrate its mobility, as well as the workspaces for one and two hexapods in order to make possible a visual compa

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9

Platov, Illia, and Oleksii Pavlovskyi. "VERTICAL MOTION OF MINIATURE WALKING ROBOTS. STATE OF THE PROBLEM REVIEW." Bulletin of Kyiv Polytechnic Institute. Series Instrument Making, no. 65(1) (June 30, 2023): 96–103. http://dx.doi.org/10.20535/1970.65(1).2023.283444.

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The article reviews the state of the art of developing miniature walking robots for vertical movement due to friction forces between limbs and surface. In particular, special attention is paid to miniature walking robots - hexapods, as they have good stability and cross-country ability compared to other types of robots, both wheeled and tracked. Unlike other types of robots, hexapods can be fully autonomous. This makes them a potentially versatile tool for solving a variety of tasks in different areas, such as: 1) rescue operations - hexapods can penetrate destroyed buildings to assess the con

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10

MĂRGĂRITESCU, Mihai, Dan DUMITRIU, Cornel BRIȘAN, Ana Maria Eulampia ROLEA, and Anghel CONSTANTIN. "Complex and Robust Motion Performed in Extended Workspace with a Double Hexapod Robotic System." Mechanics 26, no. 6 (2020): 532–39. http://dx.doi.org/10.5755/j01.mech.26.6.20949.

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The aim of this study was to assess the functionality of a compact robotic system with hybrid kinematic structure, consisting in two hexapods serially connected and controlled in such a way that they have identical configurations any time, in terms of accuracy and maneuverability. By the aid of the a demonstration model it was intended to prove that the system substantially benefits of the precision and robustness of the parallel structures and simultaneously is capable to generate complex motions in a significant extended workspace compared with a single hexapod. The double hexapod system ans

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11

Djukic, D. J., Yu A. Zhukov, E. B. Korotkov, A. V. Moroz, and N. S. Slobodzyan. "HEXAPOD DIGITAL CONTROL USING THE INVERSE DYNAMICS AND IT IMPLEMENTATION ON THE RADIATION-RESISTANT ARM-MICROCONTROLLER." Issues of radio electronics, no. 7 (July 20, 2018): 103–10. http://dx.doi.org/10.21778/2218-5453-2018-7-103-110.

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The researches are part of the actual work carried out by BSTU Voenmeh with the financial support of the Ministry of Education and Science of the Russian Federation for the design and creation of a precision mechanism with parallel kinematics of the «hexapod» type. In modern developments of robot control systems, the approach based on the solution of the inverse dynamic model is most popular. In this article, we study the quality of control and the feasibility of this approach in the control system based on the domestic radiation-resistant microcontroller. A mathematical description of the hex

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12

Kurnia, Mirza Sjahrul, Agus Pracoyo, and Leonardo Kamajaya. "Kontrol PID untuk Navigasi Robot Berkaki Berbasis Sensor TOF dan BNO055." Jurnal Elektronika dan Otomasi Industri 10, no. 3 (2023): 462–70. http://dx.doi.org/10.33795/elkolind.v10i3.1952.

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Perkembangan dalam bidang teknologi semakin cepat khususnya dibidang robotika. Dalam klasifikasinya, robot terbagi berdasarkan actuator penggeraknya yaitu robot beroda dan juga robot berkaki (legged). Pada robot berkaki, terdapat sebuah tantangan dimana robot harus dapat berjalan lurus di lintasan dimana tidak terdapat dinding penuntun. Penelitian ini bertujuan untuk mengembangkan robot hexapoda yang dapat berjalan lurus menggunakan metode kontrol PID. Pengujian dilakukan dengan mengukur jarak tempuh robot dalam lintasan lurus sejauh 5 meter. Robot dikendalikan oleh mikrokontroler dengan algor

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13

Luneckas, Mindaugas, Tomas Luneckas, Jonas Kriaučiūnas, et al. "Hexapod Robot Gait Switching for Energy Consumption and Cost of Transport Management Using Heuristic Algorithms." Applied Sciences 11, no. 3 (2021): 1339. http://dx.doi.org/10.3390/app11031339.

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Due to the prospect of using walking robots in an impassable environment for tracked or wheeled vehicles, walking locomotion is one of the most remarkable accomplishments in robotic history. Walking robots, however, are still being deeply researched and created. Locomotion over irregular terrain and energy consumption are among the major problems. Walking robots require many actuators to cross different terrains, leading to substantial consumption of energy. A robot must be carefully designed to solve this problem, and movement parameters must be correctly chosen. We present a minimization of

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14

Bowling, Alan P. "Mass Distribution Effects on Dynamic Performance of a Cable-Driven Hexapod." Journal of Mechanical Design 129, no. 8 (2006): 887–90. http://dx.doi.org/10.1115/1.2735639.

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This paper illustrates the use of dynamic performance analysis in the design of legged robots, specifically hexapods. This is accomplished by comparing the dynamic performance of a cable-driven hexapod to that of a more conventional design in which the actuators are mounted at the joints. By integrating the actuators into the torso and through the use of cable transmission, the mass and inertias of the legs are reduced in order to attain high accelerations and backdrivability. The dynamic performance described herein is bounded by the actuator torque limits and the no-slip condition at the gro

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15

Jiang, Baisheng. "A PID Tuning Method for Hexapod Gait Control Based on Genetic Algorithm." Highlights in Science, Engineering and Technology 71 (November 28, 2023): 61–67. http://dx.doi.org/10.54097/hset.v71i.12377.

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Hexapods are widely used in the field of rescue robots that transport in complex terrains which are difficult for traditional wheeled robots to traverse. Currently, the method for hexapod gait control is often PID, a classical method that is universally exploited in all control systems in general. However, the fine-tuning of PID’s hyper-parameters(i.e. kp, ki and kd) mainly rely on chances and the experience of tuners. Therefore, it is both urgent and critical to find an automatic way to get through the tuning process and return optimal results. Aiming at this, this paper puts forward a novel

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16

Machida, Ryuichiro. "Evidence from embryology for reconstructing the relationships of hexapod basal clades." Arthropod Systematics & Phylogeny 64, no. 1 (2006): 95–104. http://dx.doi.org/10.3897/asp.64.e31645.

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Hexapod basal clades are discussed and their relationships reconstructed based on comparative embryological evidence. Monophylies of Diplura, Dicondylia and Ectognatha is strongly supported but no embryological evidence supports mono-phyly of the Entognatha. The developmental potential of the embryonic membrane (it forms part of the dorsal body wall) suggests that proturans may be basal to all other hexapods

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Machida, Ryuichiro. "Evidence from embryology for reconstructing the relationships of hexapod basal clades." Arthropod Systematics & Phylogeny 64 (October 30, 2006): 95–104. https://doi.org/10.3897/asp.64.e31645.

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Hexapod basal clades are discussed and their relationships reconstructed based on comparative embryological evidence. Monophylies of Diplura, Dicondylia and Ectognatha is strongly supported but no embryological evidence supports mono-phyly of the Entognatha. The developmental potential of the embryonic membrane (it forms part of the dorsal body wall) suggests that proturans may be basal to all other hexapods

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18

Veryha, Yauheni, and Henrik Gordon Petersen. "Application of joint error maximum mutual compensation for hexapod robots." Robotica 26, no. 1 (2008): 63–73. http://dx.doi.org/10.1017/s0263574707003591.

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SUMMARYA good practice to ensure high-positioning accuracy in industrial robots is to use joint error maximum mutual compensation (JEMMC). This paper presents an application of JEMMC for positioning of hexapod robots to improve end-effector positioning accuracy. We developed an algorithm and simulation framework in MatLab to find optimal hexapod configurations with JEMMC. Based on a real hexapod model, simulation results of the proposed approach are presented. Optimal hexapod configurations were found using the local minimum of the infinity norm of hexapod Jacobian inverse. JEMMC usage in hexa

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19

Thirumalesh, Priyanka, P. Malarvezhi, Ankita Mahato, and Meghna Choudhury. "Hexapod Performance." International Journal of Engineering & Technology 7, no. 2.24 (2018): 387. http://dx.doi.org/10.14419/ijet.v7i2.24.12091.

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The purpose of this project is to build a six legged walking robot, which is able to perform basic tasks like walking in the forward direction, backward, moving it’s body up and down and rotating. This project involves designing the hexapod on CAD software Solid Works followed by fabrication and required electronic connections and testing. Due to the stability and its wide flexibility to move in irregular surfaces, hexapod can be very useful in the zones where the natural disasters and also in the aftereffects of the war scenario. The complexity and performance of the hexapod can be widely inc

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20

Chalak, Ajit, Schine Kale, and Ashok Ghodke. "Advances in Limb Reconstruction Surgery." Journal of Clinical Orthopaedics 8, no. 2 (2023): 69–71. http://dx.doi.org/10.13107/jcorth.2023.v08i02.604.

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Limb reconstruction surgery has witnessed remarkable advancements in recent years. The hexapods have revolutionized limb reconstruction surgery, offering patients reduced postoperative discomfort, accelerated recovery times, and a quicker return to functional independence. This article aims to delve into the current aspects of limb reconstruction surgery, exploring the strategies employed in addressing these complex issues. Keywords: Limb reconstruction, Stimulan, Hexapod, ALFA Fixator

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21

Mostafa, Kazi, Innchyn Her, and Yi-Hsien Wu. "The Offset Model of a Hexapod Robot and the Effect of the Offset Parameter." International Journal of Manufacturing, Materials, and Mechanical Engineering 2, no. 3 (2012): 52–59. http://dx.doi.org/10.4018/ijmmme.2012070104.

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Generally, it is claimed that hexapod walking robots are superior to others. However, in some conditions hexapod suffers from stability problems. To solve the problem of stability, this paper proposes a new gait model of hexapod robot named offset model and also investigates the effects of morphological factor of hexapod robots on their locomotion. A comparison between the offset model and general model of hexapod robot is also included. The stability margin and error margin are used to indicate the stability of a hexapod robot, as it walks with different gaits in arbitrary directions. Two hex

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22

Macey, Alistair, Hussain Al Omar, Patricia Leitch, et al. "THE RESULTS OF TWO-RING HEXAPODS IN THE LOWER LIMB AT KING'S COLLEGE HOSPITAL." Orthopaedic Proceedings 106-B, SUPP_5 (2024): 33. http://dx.doi.org/10.1302/1358-992x.2024.5.033.

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IntroductionClassical fixation using a circular frame involves two rings per segment and in many units this remains the norm whether using ilizarov or hexapod type frames. We present the results of two ring circular frame at King's College Hospital.Materials & MethodsA prospective database has been maintained of all frames applied since 2007. Radiographs from frames applied prior to July 2022 were examined. Clinic letters were then used to identify complications.Included: two ring hexapod for fracture, malunion, nonunion, arthrodesis or deformity correction in the lower limb.Excluded: pati

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Pan, Chun Ping, Ying Lu, and Yi Jun Lin. "The Influence of Payload Mass and Inertia Properties on a Piloted Flight Simulator Hexapod Dynamic Performance." Advanced Materials Research 1037 (October 2014): 61–65. http://dx.doi.org/10.4028/www.scientific.net/amr.1037.61.

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In order to improve the dynamic performance of a piloted flight simulator hexapod, a study was carried out to quantify the effects of payload mass and inertia properties on hexapod dynamic performance. Based on the Lagrange-Euler formulation, a dynamics model of hexapod parallel mechanism including the payload mass characteristics was built, and then analyzed with the real hexapod through experiments. According to a large amount of experiment datum, the influence of payload mass and inertia properties on a piloted flight simulator hexapod dynamic performance was obtained, and these results are

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Guan, Rong Qiang, Jun Yi Liu, and Jun Ling Liu. "Fusion Algorithm for Multi-Gait of Hexapod Bionic Rescue Robot." Advanced Materials Research 433-440 (January 2012): 3033–37. http://dx.doi.org/10.4028/www.scientific.net/amr.433-440.3033.

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This paper mainly introduces a new kind of adaptive control hexapod bionic rescue robot. From the angle of bionics, hexapod robot’s gait algorithm which is based on hexapod cockroach is studied. It uses the adaptive control algorithm to convert hexapod robot's gait algorithms under the different circumstances and sets up D-H coordinate of robot’ssingle leg to analyze the single leg’s kinematics.

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Cho, Young-Sik, and Young-Duk Huh. "Preparation of Uniform Hexapod Cu2O and Hollow Hexapod CuO." Bulletin of the Korean Chemical Society 34, no. 10 (2013): 3101–4. http://dx.doi.org/10.5012/bkcs.2013.34.10.3101.

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26

Vilensky, Viktor Aleksandrovich, Aleksander Pavlovich Pozdeev, Edgar Valentinovich Bukharev, Andrey Aleksandrovich Pozdeev, Timur Faizovich Zubairov, and Leonid Nikolaevich Solomin. "Orthopedic hexapods: history, present and prospects." Pediatric Traumatology, Orthopaedics and Reconstructive Surgery 3, no. 1 (2015): 61–69. http://dx.doi.org/10.17816/ptors3161-69.

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The article is dedicated to computer-assisted external fixation devices, so-called hexapods. The main advantage of these frames is capability to make mathematically precise correction of bone fragments in three planes and six degrees of freedom on the base of calculations made in special software application. Recently these devices are mostly applied in long bone deformity correction but the sphere of its effective useis not limited by only this direction. The article presents the history of investigation of these devices, their development, implemented comparative analysis of the basic hexapo

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27

Song, Shin-Min, and K. J. Waldron. "Geometric Design of a Walking Machine for Optimal Mobility." Journal of Mechanisms, Transmissions, and Automation in Design 109, no. 1 (1987): 21–28. http://dx.doi.org/10.1115/1.3258780.

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The design of the geometry of a walking machine depends to a considerable extent on the applications for which the machine is intended. Nevertheless, there are some very general principles and approaches which may be applied. This paper deals with the geometric design of a hexapodal walking machine which is to possess optimum mobility on varied terrain. This problem both illustrates, and serves as a vehicle for, the development of these general principles. Since one of the most important features of legged locomotion is the gait, the fundamental gaits of a 2N-legged (N≥2) walking machine on bo

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Coelho, Joana, Fernando Ribeiro, Bruno Dias, Gil Lopes, and Paulo Flores. "Trends in the Control of Hexapod Robots: A Survey." Robotics 10, no. 3 (2021): 100. http://dx.doi.org/10.3390/robotics10030100.

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The static stability of hexapods motivates their design for tasks in which stable locomotion is required, such as navigation across complex environments. This task is of high interest due to the possibility of replacing human beings in exploration, surveillance and rescue missions. For this application, the control system must adapt the actuation of the limbs according to their surroundings to ensure that the hexapod does not tumble during locomotion. The most traditional approach considers their limbs as robotic manipulators and relies on mechanical models to actuate them. However, the increa

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Di Leva, J. A., and J. A. A. Engelbrecht. "Motion planning for a hexapod robot over uneven terrain." MATEC Web of Conferences 388 (2023): 04023. http://dx.doi.org/10.1051/matecconf/202338804023.

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This paper explores the motion planning of a hexagonal-based hexapod robot (Hexapod) for executing complex motions. The system utilized the Denavit-Hartenberg coordinate system and a kinematics system to enable individual leg control for the Hexapod. By manipulating this system within a simulation, the Hexapod successfully demonstrated the ability to ascend and descend an obstacle, adjust its body’s height and Euler angles, and execute smooth transitions on sloped terrains.

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Xu, Shoulin, Bin He, and Heming Hu. "Research on Kinematics and Stability of a Bionic Wall-Climbing Hexapod Robot." Applied Bionics and Biomechanics 2019 (April 1, 2019): 1–17. http://dx.doi.org/10.1155/2019/6146214.

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Wall-climbing hexapod robot as a bionic robot has become a focus for extensive research, due to a wide range of practical applications. The most contribution of this paper is to analyze the kinematics and stability of a wall-climbing hexapod robot, so as to provide a theoretical basis for the stable walking and control of the robot on the wall. Firstly, the kinematics model of the wall-climbing hexapod robot is established based on the D-H method. Then, in order to keep the robot from tipping over, the stability of the wall-climbing hexapod robot is analyzed in depth, obtaining the critical co

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

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

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McBride, A., S. Nicol, and F. Monsell. "The programmable hexapod." Bone & Joint 360 4, no. 4 (2015): 8–11. http://dx.doi.org/10.1302/2048-0105.44.360367.

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Höntzsch, Dankward. "Hexapod für Wolkenkratzer." OP-JOURNAL 34, no. 02 (2019): U3. http://dx.doi.org/10.1055/a-0946-6155.

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Großmann, Knut, and Volker Möbius. "Hexapod für Handling." Zeitschrift für wirtschaftlichen Fabrikbetrieb 95, no. 6 (2000): 290–93. http://dx.doi.org/10.1515/zwf-2000-950617.

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Erasmus, Sheldon, and Jacobus Engelbrecht. "Hexapod guidance and control for autonomous waypoint navigation over uneven terrain." MATEC Web of Conferences 370 (2022): 05005. http://dx.doi.org/10.1051/matecconf/202237005005.

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This paper presents a novel hexapod guidance and control system that enables an autonomous hexapod robot to walk over uneven terrain while navigating waypoints and keeping its central body level. The system uses a depth camera to determine the terrain heights at the horizontal locations where the hexapod plans to place its feet. The guidance and control software has been implemented in the Robotics Operating System and has been verified in simulation using the Gazebo simulator. A physical hexapod robot has been constructed and practical tests are currently being performed to validate the syste

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Burkus, Ervin, Ákos Odry, Jan Awrejcewicz, István Kecskés, and Péter Odry. "Mechanical Design and a Novel Structural Optimization Approach for Hexapod Walking Robots." Machines 10, no. 6 (2022): 466. http://dx.doi.org/10.3390/machines10060466.

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This paper presents a novel model-based structural optimization approach for the efficient electromechanical development of hexapod robots. First, a hexapod-design-related analysis of both optimization objectives and relevant parameters is conducted based on the derived dynamical model of the robot. A multi-objective optimization goal is proposed, which minimizes energy consumption, unwanted body motion and differences between joint torques. Then, an optimization framework is established, which utilizes a sophisticated strategy to handle the optimization problems characterized by a large set o

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Gorbunov, A. V., E. B. Korotkov, A. V. Lekanov, S. A. Matveev, N. S. Slobodzyan, and N. G. Yakovenko. "EXPERIENCE OF THE DEVELOPMENT OF THE CONTROL SYSTEM OF MECHANISMS WITH PARALLEL STRUCTURE OF THE TYPE "HEXAPOD" FOR POSITIONING AND INTRODUCTION OF LARGE-SIZED OBJECTS OF INFORMATION SPACE PLATFORM." Issues of radio electronics, no. 7 (July 20, 2018): 111–23. http://dx.doi.org/10.21778/2218-5453-2018-7-111-123.

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The problems of designing a hexapod control system - a mechanism with parallel kinematics, designed for guidance and positioning of instruments and antennas of orbiting satellite platforms are considered. Based on the solution of the extended kinematics problem, the algorithm for controlling linear drives with a kinematic pair of screw-nut and two two-axis hinges is specified. The hexapod control scheme with the spatial load position sensor is given, the feasibility of positional control algorithms is estimated on the basis of the modern domestic element base. The estimation is made by the met

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Wang, Lei, Ruiwen Li, Xiaoxiao Wang, Weidong Gao, and Yiyang Chen. "A Motion Control Strategy for a Blind Hexapod Robot Based on Reinforcement Learning and Central Pattern Generator." Symmetry 17, no. 7 (2025): 1058. https://doi.org/10.3390/sym17071058.

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Hexapod robots that use external sensors to sense the environment are susceptible to factors such as light intensity or foggy weather. This effect leads to a drastic decrease in the motility of the hexapod robot. This paper proposes a motion control strategy for a blind hexapod robot. The hexapod robot is symmetrical and its environmental sensing capability is obtained by collecting proprioceptive signals from internal sensors, allowing it to pass through rugged terrain without the need for external sensors. The motion gait of the hexapod robot is generated by a central pattern generator (CPG)

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Munadi, Munadi, Ismoyo Haryanto, and Toni Prahasto. "ANALISA KINEMATIK, DINAMIK DAN METODE GERAK KAKI MODEL SNOOPER HEXAPOD ROBOT." ROTASI 17, no. 3 (2015): 137. http://dx.doi.org/10.14710/rotasi.17.3.137-144.

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This article presents how to make a model of snooper hexapod robot as a legged robot which is inspired by the spider. This model robot is used for monitoring systems of an industrial area. We design an hexapod robot that consists of 18 dof, which it used acrylic as a base material, servomotor as a driver and an ATmega 128 as microcontroller. We start to make a mechanical design of a snooper hexapod robot construction. Furthermore, kinematics and dynamics analysis of hexapod robot is discussed using Matlab from the control point of view. The objective of kinematic analysis is to determine the k

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Yan, Bing Bing, Yang Li, Wen Bo Ren, and Bao Lin Yin. "Modeling and Simulation of Gait Analysis of Hexapod Robot." Applied Mechanics and Materials 457-458 (October 2013): 639–42. http://dx.doi.org/10.4028/www.scientific.net/amm.457-458.639.

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In order to solve the key issues such as the improvement of the movement smoothness of the center of mass and the movement coordination of each joint of the legs in the process the movement of the bionic hexapod robot, etc., establish bionic hexapod robot simulation model jointly by observing the movement characteristics and structural characteristics of the hexapod beetle and using three-dimensional modeling software SOLIDWORKS and mechanical system dynamics simulation software ADAMS and build the legs dynamic contact and collision model with the ground through the applied force constraint of

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Qiu, Zhiying, Wu Wei, and Xiongding Liu. "Adaptive Gait Generation for Hexapod Robots Based on Reinforcement Learning and Hierarchical Framework." Actuators 12, no. 2 (2023): 75. http://dx.doi.org/10.3390/act12020075.

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Gait plays a decisive role in the performance of hexapod robot walking; this paper focuses on adaptive gait generation with reinforcement learning for a hexapod robot. Moreover, the hexapod robot has a high-dimensional action space and therefore it is a great challenge to use reinforcement learning to directly train the robot’s joint angles. As a result, a hierarchical and modular framework and learning details are proposed in this paper, using only seven-dimensional vectors to denote the agent actions. In addition, we conduct experiments and deploy the proposed framework using a real hexapod

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Jo, Jihee, Sung-Pyo Cho, and Jong Kuk Lim. "Template synthesis of hollow silver hexapods using hexapod-shaped silver oxide mesoparticles." Journal of Colloid and Interface Science 448 (June 2015): 208–14. http://dx.doi.org/10.1016/j.jcis.2015.02.026.

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Geng, De Xu, He Peng, Jin Tao Zhang, Yun Wei Zhao, and Guang Bin Wu. "Research on Structure and Kinematics of Hexapod Robot Based on the Pneumatic Flexible Joint." Applied Mechanics and Materials 401-403 (September 2013): 267–71. http://dx.doi.org/10.4028/www.scientific.net/amm.401-403.267.

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This paper developed a new type of hexapod robot using self-developed flexible space bending joints which can not only move from side to side or back and forth but also rotate. Then the principle of the movement and the gait of the hexapod robot were investigated, the kinematics model on translational displacement and velocity was followed. Furthermore, the test bench and pneumatic control system were set up, and the displacement, velocity and acceleration of the center of were acquired by high-speed camera shooting means. Finally, the stability of the gravity center and the control method of

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Manoonpong, Poramate, Luca Patanè, Xiaofeng Xiong, et al. "Insect-Inspired Robots: Bridging Biological and Artificial Systems." Sensors 21, no. 22 (2021): 7609. http://dx.doi.org/10.3390/s21227609.

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This review article aims to address common research questions in hexapod robotics. How can we build intelligent autonomous hexapod robots that can exploit their biomechanics, morphology, and computational systems, to achieve autonomy, adaptability, and energy efficiency comparable to small living creatures, such as insects? Are insects good models for building such intelligent hexapod robots because they are the only animals with six legs? This review article is divided into three main sections to address these questions, as well as to assist roboticists in identifying relevant and future dire

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Huang, Sihao, Boyang Chen, Maoxin Yin, Yiming Ren, and Zikang Xie. "Optimal Design of Shock Absorption for Hexapod Robot based on Magnetorheological Fluid." Journal of Physics: Conference Series 2361, no. 1 (2022): 012025. http://dx.doi.org/10.1088/1742-6596/2361/1/012025.

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To achieve the best shock absorption effect of the hexapod robot, the influence of three leg structures on the stability of the hexapod robot under different path environments was studied, and a set of highly implementable solutions was designed. Use SolidWorks to build a hexapod robot model, import it into ADAMS to build a dynamic model and build different path environments, and conduct forward and inverse kinematics analysis at the same time. Using the Simulink plug-in in MATLAB and ADAMS joint kinematics simulation, the spring damping and magnetorheological fluid components are established

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Wang, Lei, Ruiwen Li, Ziwei Huangfu, Yishan Feng, and Yiyang Chen. "A Soft Actor-Critic Approach for a Blind Walking Hexapod Robot with Obstacle Avoidance." Actuators 12, no. 10 (2023): 393. http://dx.doi.org/10.3390/act12100393.

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This paper investigates a path planning approach for the walking and obstacle avoidance of a blind hexapod robot in various field conditions. Hexapod robots often perform field tasks in unstructured environments, and their external sensors are affected by weather and light. This paper proposes the use of internal sensors to sense the terrain and a slightly modified soft actor-critic algorithm to train the motion strategy. A hexapod robot is capable of walking smoothly on rough ground only using internal sensors that are not affected by weather factors, and the soft actor-critic approach is sup

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Sukardi, Syutriadi, and Satria Gunawan Zain. "Pengembangan Algoritme Gerak Robot Hexapod Menggunakan Logika Fuzzy." Journal of Embedded Systems, Security and Intelligent Systems 2, no. 1 (2021): 41. http://dx.doi.org/10.26858/jessi.v2i1.20580.

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Penelitian ini bertujuan untuk mengembangkan algoritma gerak robot hexapod dan meningkatkan kecepatan optimal robot dengan menggunakan logika fuzzy. Penelitian dilakukan dengan menggunakan metode eksperimen kemudian hasil penelitian berupa pengembangan robot. Metode yang telah diterapkan pada robot sebelumnya menggunakan algoritma wall following. Namun, diperlukan algoritma tambahan untuk mengembangkan kemampuan gerak robot hexapod, yaitu dengan menerapkan metode logika fuzzy. Hasil penelitian ini menunjukkan kemampuan pergerakan robot hexapod menggunakan logika fuzzy yang dibangun menggunakan

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Malhotra, Vaibhav. "AUTONOMOUS LUGGAGE CARRIER HEXAPOD." International Journal of Engineering Applied Sciences and Technology 5, no. 7 (2020): 102–6. http://dx.doi.org/10.33564/ijeast.2020.v05i07.015.

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Großmann, Knut, and Bernd Wunderlich. "Preiswerte Genauigkeit am Hexapod." ZWF Zeitschrift für wirtschaftlichen Fabrikbetrieb 96, no. 5 (2001): 257–61. http://dx.doi.org/10.3139/104.100421.

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V. Choudhari, Mrs Anagha. "The Hexapod Walking Robot." HELIX 8, no. 5 (2018): 3919–21. http://dx.doi.org/10.29042/2018-3919-3921.

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