Journal articles: 'Hexapod'

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

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

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Xi, Fengfeng, Rosario Sinatra, and Wanzhi Han. "Effect of Leg Inertia on Dynamics of Sliding-Leg Hexapods." Journal of Dynamic Systems, Measurement, and Control 123, no. 2 (June 1, 2001): 265–71. http://dx.doi.org/10.1115/1.1369600.

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In this paper the effect of leg inertia on hexapod dynamics is investigated. Hexapods under investigation are a new type that is made of sliding legs with constant lengths. A complete dynamic model of sliding-leg hexapods is developed including leg inertia. Based on this dynamic model, the effect of leg inertia on hexapod dynamics is investigated in terms of two parameters. The first parameter is the ratio of the total leg mass to the mass of the moving platform, and the second parameter is the acceleration of the moving platform. Numerical studies reveal that the effect of leg inertia may be negligible at low speeds, but becomes significant at high speeds. Hence, leg inertia must be included for modeling hexapod dynamics for high-speed applications.

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Cheah, Wei, Hassan Hakim Khalili, Farshad Arvin, Peter Green, Simon Watson, and Barry Lennox. "Advanced motions for hexapods." International Journal of Advanced Robotic Systems 16, no. 2 (March 1, 2019): 172988141984153. http://dx.doi.org/10.1177/1729881419841537.

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

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Lee, Sanghwa, Yuri Sohn, Chinkyo Kim, Dong Ryeol Lee, and Hyun-Hwi Lee. "Nanostructural analysis of GaN tripods and hexapods grown onc-plane sapphire." Journal of Applied Crystallography 43, no. 6 (October 13, 2010): 1300–1304. http://dx.doi.org/10.1107/s0021889810036472.

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

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

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Most hexapods that are currently available on the market are expensive and have extremely high positional and orientation accuracies. Although the positional accuracy is high the viewing angle is limited to 60°. These hexapods are designed with a small viewing angle, as they are not optimised for radio telescopes. The aim of this work is to highlight the various factors that should be considered during the design of a 6-3 Stewart platform for pointing applications. These factors are illustrated by presenting the case study of a small custom hexapod that is designed, built and tested. Modelling of the Platform is performed through the implementation of existing kinematic and dynamic models that could be verified through comparison to simulation results in literature. Components designed for the hexapod include the linear drives, base joints, platform joints, electronic controller and graphical user interface. The design process is documented and design decisions clearly motivated. Performance of the Stewart platform is measured with an inclinometer and the ability of the platform to track a sun simulation path is presented. Specifications which the hexapod is able to achieve include a viewing angle of 120˚±0.3˚ and the ability to carry a payload of 1kg.

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

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

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

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The article reviews the state of the art of developing miniature walking robots for vertical movement due to friction forces between limbs and surface. In particular, special attention is paid to miniature walking robots - hexapods, as they have good stability and cross-country ability compared to other types of robots, both wheeled and tracked. Unlike other types of robots, hexapods can be fully autonomous. This makes them a potentially versatile tool for solving a variety of tasks in different areas, such as: 1) rescue operations - hexapods can penetrate destroyed buildings to assess the condition under the rubble, explore underwater spaces, and generally move in places where there is not enough space for movement and complex maneuvers; 2) military use - hexapods can clear mines, be used for reconnaissance or surveying, while saving lives due to the possibility of complete autonomy; 3) industrial applications - due to their maneuverability and cross-country ability, hexapod robots can become indispensable in quarries and construction sites where there are slopes, mountainous terrain, and generally where wheeled or tracked robots cannot easily move; 4) speleology - search and exploration of minerals inside caves, mines, etc; 5) accident response, in particular, in the nuclear power industry. Despite the long history of development and significant progress in this area, thanks to which many design solutions and modernizations are already known, the problem of vertical movement of small hexapod robots due to friction forces still remains unsolved. Existing developments are usually aimed at moving on surfaces by imitating the limbs of biological creatures (insects, animals, etc.), which allows robots to climb upwards thanks to an adhesive substance, grip the surface with mechanical claws, etc. Magnet and suction cup designs have also been known for a long time, but this solution requires a very powerful power source and is not universal. Therefore, one of the most promising areas of research is the vertical movement of hexapod robots due to friction forces between the limbs and the surface, since the robot remains autonomous and does not require special equipment and additional communication with a power source (compressor, etc.), and, more importantly, is able to move both on horizontal and vertical surfaces. At the moment, there are several examples of successful use of hexapods for vertical movement, but the review of works has shown that the problem of vertical movement of miniature hexapod robots remains relevant and requires further research and development. Existing achievements in this area give us hope that in the future we will demonstrate effective solutions to this problem and the widespread use of hexapods in various industries and science.

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MĂRGĂRITESCU, Mihai, Dan DUMITRIU, Cornel BRIȘAN, Ana Maria Eulampia ROLEA, and Anghel CONSTANTIN. "Complex and Robust Motion Performed in Extended Workspace with a Double Hexapod Robotic System." Mechanics 26, no. 6 (December 7, 2020): 532–39. http://dx.doi.org/10.5755/j01.mech.26.6.20949.

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

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

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The researches are part of the actual work carried out by BSTU Voenmeh with the financial support of the Ministry of Education and Science of the Russian Federation for the design and creation of a precision mechanism with parallel kinematics of the «hexapod» type. In modern developments of robot control systems, the approach based on the solution of the inverse dynamic model is most popular. In this article, we study the quality of control and the feasibility of this approach in the control system based on the domestic radiation-resistant microcontroller. A mathematical description of the hexapod dynamics model and control algorithm is given. A model of a digital control system for the hexapod of space intended for use in Matlab Simulink is described. Estimates of the quality of hexapode regulation in the contour control regime are obtained. Evaluated the software implementation of the control algorithm in the real-time operating system Keil RTX in the programming language C++. The quantization period necessary for the implementation of the algorithm under investigation is determined.

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Kurnia, Mirza Sjahrul, Agus Pracoyo, and Leonardo Kamajaya. "Kontrol PID untuk Navigasi Robot Berkaki Berbasis Sensor TOF dan BNO055." Jurnal Elektronika dan Otomasi Industri 10, no. 3 (September 30, 2023): 462–70. http://dx.doi.org/10.33795/elkolind.v10i3.1952.

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

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Luneckas, Mindaugas, Tomas Luneckas, Jonas Kriaučiūnas, Dainius Udris, Darius Plonis, Robertas Damaševičius, and Rytis Maskeliūnas. "Hexapod Robot Gait Switching for Energy Consumption and Cost of Transport Management Using Heuristic Algorithms." Applied Sciences 11, no. 3 (February 2, 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 the hexapod robot’s energy consumption in this paper. Secondly, we investigate the reliance on power consumption in robot movement speed and gaits along with the Cost of Transport (CoT). To perform optimization of the hexapod robot energy consumption, we propose two algorithms. The heuristic algorithm performs gait switching based on the current speed of the robot to ensure minimum energy consumption. The Red Fox Optimization (RFO) algorithm performs a nature-inspired search of robot gait variable space to minimize CoT as a target function. The algorithms are tested to assess the efficiency of the hexapod robot walking through real-life experiments. We show that it is possible to save approximately 7.7–21% by choosing proper gaits at certain speeds. Finally, we demonstrate that our hexapod robot is one of the most energy-efficient hexapods by comparing the CoT values of various walking robots.

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Bowling, Alan P. "Mass Distribution Effects on Dynamic Performance of a Cable-Driven Hexapod." Journal of Mechanical Design 129, no. 8 (August 21, 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 ground contact points. The result is a description of how well each hexapod can accelerate its torso without causing slippage at the ground contact points.

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Machida, Ryuichiro. "Evidence from embryology for reconstructing the relationships of hexapod basal clades." Arthropod Systematics & Phylogeny 64, no. 1 (October 30, 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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Thirumalesh, Priyanka, P. Malarvezhi, Ankita Mahato, and Meghna Choudhury. "Hexapod Performance." International Journal of Engineering & Technology 7, no. 2.24 (April 25, 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 increased by adding additional sensors and also it can be modified in such a way that it can be used in fields of defense, manufacturing automation and can widely replace the humans in hazardous environment.

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Veryha, Yauheni, and Henrik Gordon Petersen. "Application of joint error maximum mutual compensation for hexapod robots." Robotica 26, no. 1 (January 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 hexapod robots can improve hexapod end-effector positioning accuracy by two times and more.

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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 (July 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 hexapod gaits are compared, which are the diametrical gait and the paired metachronal gait. The former is an artificial gait and the latter is a natural gait. The authors conclude that that the stability of a hexapod robot with the diametrical gait can be enhanced by increasing the offset parameter.

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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 significant for the high speed and high acceleration control of the hexapod mechanism.

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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 (October 20, 2013): 3101–4. http://dx.doi.org/10.5012/bkcs.2013.34.10.3101.

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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 (August 4, 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 increasing interest in model-free models for the control of these systems has led to the design of novel solutions. Through a systematic literature review, this paper intends to overview the trends in this field of research and determine in which stage the design of autonomous and adaptable controllers for hexapods is.

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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 (March 15, 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 hexapods: TSF (Taylor Spatial Frame), IHA (Ilizarov Hexapod Apparatus) and Ortho-SUV Frame.

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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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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 (March 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 both flat and irregular terrain are introduced first. The motion of the machine is assumed to be quasi-static. The mobility of a walking machine using these gaits, mainly centered on the hexapodal case, is then discussed. The principles obtained in gait and mobility studies are then applied to the design of the geometry of a hexapod, which includes both body-leg layout and leg walking volumes (working spaces), so that the hexapod may possess the optimum mobility.

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McBride, A., S. Nicol, and F. Monsell. "The programmable hexapod." Bone & Joint 360 4, no. 4 (August 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 (July 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 (June 1, 2000): 290–93. http://dx.doi.org/10.1515/zwf-2000-950617.

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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 condition which makes the robot to tip over. Afterward, the kinematics simulation of the wall-climbing hexapod robot is operated to analyze motion performances. Finally, the experiments are used to validate the proposed kinematics model and stability. The experimental results show that the kinematics model and stability condition of the wall-climbing hexapod robot are correct.

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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 (May 1, 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 obtained, and the slope gait is planned based on central pattern generator middle level feedback. According to vector product, the solution of working out the stability margin of hexapod robot’s motion is designed. Lastly, MATLAB/ADAMAS co-simulation platform and physical hardware are constructed, the simulation and experiment of transition motion of hexapod robot from flat to 12° slope and motion of climbing 16° slope are done. According to the analysis of the results, in the transition motion from flat to 12° slope, based on the transition gait, hexapod robot can keep three foots touch the ground, and the foot force is uniform. According to the means designed to work out a stability margin based on vector product, the stability margin constant is greater than zero. In the motion of climbing 16° slope, based on the slope gait, hexapod robot completes the motion of climbing 16° slope. Based on transition gait, hexapod robot implements the transition movement from flat to slope stably. Based on slope gait, hexapod robot improves the ability of slope motion.

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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 system.

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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 (June 11, 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 of parameters. As a result, a satisfactory result is efficiently obtained with fewer iterations. The research determines the optimal parameter set for hexapod robots, contributing to significant increases in a robot’s walking range, suppressed robot body vibrations, and both balanced and appropriate motor loads. The modular design of the proposed simulation model also offers flexibility, allowing for the optimization of other electromechanical properties of hexapod robots. The presented research focuses on the mechatronic design of the Szabad(ka)-III hexapod robot and is based on the previously validated Szabad(ka)-II hexapod robot model.

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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 method of mathematical modeling. An algorithm for adaptive neural network control of a hexapod is proposed. An artificial neural network has been developed, which together with a nonlinear controller regulates the force acting on linear actuators by control error. To assess the quality of hexapod control, a dynamic model of the hexapod control system was created in the simulation package SimMechanics of the MATLAB Simulink system. A description is given of the hardware part of the digital control system-the hexapod control unit).

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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 (July 1, 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 kinematic quatities such as displacements, velocities, and accelerations of the elements of model robot when the input motion is given. It establishes the relationship between the motions of various components of the link. The dynamics analysis will inform a torque at the joint ankle hexapod robot using modeling Matlab Simmechanics. The model of hexapod robot is used for monitoring systems so called snooper hexapod will be designed and manufactured so have the required capabilities as a surveillance robot that is able to reach the difficult area and can transmit visual information to the operators who control it. Analysis is done on the robot motion algorithm on three kinds of methods of walk (one wave, two wave, and tripod) with few parameters specified

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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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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 ADAMS. Ultimately, form the global dynamics simulation model of the robot. Using the model the triangle gait of bionic hexapod robot is analyze, especially the straight and turning gait, which proves that the movement of robot is stable. The results lay the foundation for the further study and optimization of the bionic hexapod robot.

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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 (February 9, 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 robot. The experimental results show that superior reinforcement learning algorithms can converge in our framework, such as SAC, PPO, DDPG and TD3. Specifically, the gait policy trained in our framework can generate new adaptive hexapod gait on flat terrain, which is stable and has lower transportation cost than rhythmic gaits.

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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 the hexapod robot were studied. The research of this paper provides a theoretical and practical basis for the application of bionic hexapod robot.

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Manoonpong, Poramate, Luca Patanè, Xiaofeng Xiong, Ilya Brodoline, Julien Dupeyroux, Stéphane Viollet, Paolo Arena, and Julien R. Serres. "Insect-Inspired Robots: Bridging Biological and Artificial Systems." Sensors 21, no. 22 (November 16, 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 directions in the field of hexapod robotics over the next decade. After an introduction in section (1), the sections will respectively cover the following three key areas: (2) biomechanics focused on the design of smart legs; (3) locomotion control; and (4) high-level cognition control. These interconnected and interdependent areas are all crucial to improving the level of performance of hexapod robotics in terms of energy efficiency, terrain adaptability, autonomy, and operational range. We will also discuss how the next generation of bioroboticists will be able to transfer knowledge from biology to robotics and vice versa.

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Malhotra, Vaibhav. "AUTONOMOUS LUGGAGE CARRIER HEXAPOD." International Journal of Engineering Applied Sciences and Technology 5, no. 7 (November 1, 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 (May 29, 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 (August 31, 2018): 3919–21. http://dx.doi.org/10.29042/2018-3919-3921.

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Weck, M., and D. Staimer. "Titanzerspanung auf einem Hexapod." wt Werkstattstechnik online 92, no. 7-8 (2002): 340–43. http://dx.doi.org/10.37544/1436-4980-2002-7-8-340.

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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 (October 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 in Simulink, which are connected in parallel with the model in ADMAS, and the stability of the hexapod robot under three-leg structures in different environments is obtained. According to the results, the optimal shock-absorbing leg structure is obtained.

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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 (October 21, 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 superior for overcoming high-dimensional issues for multi-degree-freedom robot motion in unstructured environments.The experiments showed that the hexapod robot not only traversed rugged terrain at a fixed speed but also possessed obstacle avoidance capabilities.

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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 (November 16, 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 mikrokontroler Arduino dan ESP-32S sebagai sistem kontrolnya. Implementasi Fuzzy Logic dirancang sedemikian rupa sehingga dapat digunakan pada robot hexapod untuk melewati rintangan. Hasil uji gerak robot hexapod diperoleh dari pembacaan jarak sensor ultrasonik US-100. Hasil pembacaan sensor ultrasonik US-100 sebagai input dikirim ke ESP 32S sebagai tempat proses logika fuzzy. Data jarak dari sensor digunakan sebagai penentuan himpunan fuzzy dan dasar pembuatan rule base. Keluaran akhir dari proses fuzzy adalah nilai pusat gravitasi yang terbagi menjadi beberapa rangkaian keluaran yaitu maju, maju kanan, maju kiri, belok kanan, dan belok kiri. Kecepatan optimal robot diperoleh dengan mengatur kecepatan dan delay sebesar 50 ms. Kemampuan memilih gerakan berdasarkan lingkungan sekitar robot sangat baik dengan tingkat keberhasilan tindakan sebesar 100% dari beberapa percobaan yang telah dilakukan. Robot dapat memasuki ruangan dengan waktu tempuh rata-rata 21,8 detik dengan jarak kurang lebih 2 meter dari posisi awal robot untuk memasuki ruangan.Kata kunci: Robot Hexapod, Fuzzy Logic, Arduino, ESP 32S dan US-100

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Qingsheng, Luo, and Julpri Andika. "ANALYSIS OF KINEMATIC FOR LEGS OF A HEXAPOD USING DENAVIT-HARTENBERG CONVENTION." SINERGI 22, no. 2 (June 27, 2018): 69. http://dx.doi.org/10.22441/sinergi.2018.2.001.

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The headway of manipulator robots makes the development of a hexapod quite fast. Unfortunately, a hexapod is unstable to moving in a regular movement with some values added to programming algorithms. Various techniques implemented yet to the algorithms, like entering the degree values of each servo. However, to simplify the implementation of the algorithms, need some equations. This paper offered a hexapod control system based on Arduino that using Denavit-Hartenberg parameters to produce the equations. Various experiments have performed. Based on the experiments the offered system able to simplify the programming algorithms.

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ZHANG, HE, RUI WU, CHANGLE LI, XIZHE ZANG, YANHE ZHU, HONGZHE JIN, XUEHE ZHANG, and JIE ZHAO. "ADAPTIVE MOTION PLANNING FOR HITCR-II HEXAPOD ROBOT." Journal of Mechanics in Medicine and Biology 17, no. 07 (November 2017): 1740040. http://dx.doi.org/10.1142/s0219519417400401.

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Multi-legged robots have the ability to traverse rugged terrain and can surmount the obstacles, which are impossible for being overcome by wheeled robots. In this regard, six-legged (hexapod) robots are considered to provide the best combination of adequate adaptability and control complexity. Their motion planning envisages calculating sequences of footsteps and body posture, accounting for the influence of terrain shape, in order to produce the appropriate foot-end trajectory and ensure stable and flexible motion of hexapod robots on the rugged terrain. In this study, a high-order polynomial is used to describe the trajectory model, and a new motion planning theory is proposed, which is aimed at the adaptation of hexapod robots to more complex terrains. An attempt is made to elaborate the adaptive motion planning and perform its experimental verification for a novel hexapod robot HITCR-II, demonstrating its applicability for walking on the unstructured terrain.

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Li, Daxian, Wu Wei, and Zhiying Qiu. "Combined Reinforcement Learning and CPG Algorithm to Generate Terrain-Adaptive Gait of Hexapod Robots." Actuators 12, no. 4 (April 3, 2023): 157. http://dx.doi.org/10.3390/act12040157.

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Terrain adaptation research can significantly improve the motion performance of hexapod robots. In this paper, we propose a method that combines reinforcement learning with a central pattern generator (CPG) to enhance the terrain adaptation of hexapod robots in terms of gait planning. The hexapod robot’s complex task presents a high-dimensional observation and action space, which makes it challenging to directly apply reinforcement learning to robot control. Therefore, we utilize the CPG algorithm to generate the rhythmic gait while compressing the action space dimension of the agent. Additionally, the proposed method requires less internal sensor information, which exhibits strong applicability. Finally, we conduct experiments and deploy the proposed framework in the simulation environment. The results show that the terrain adaptation policy trained in our framework enables the hexapod robot to move more smoothly and efficiently on rugged terrain compared to the traditional CPG method.

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Davis, Robert B., Sandra L. Baldauf, and Peter J. Mayhew. "Many hexapod groups originated earlier and withstood extinction events better than previously realized: inferences from supertrees." Proceedings of the Royal Society B: Biological Sciences 277, no. 1687 (February 3, 2010): 1597–606. http://dx.doi.org/10.1098/rspb.2009.2299.

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Comprising over half of all described species, the hexapods are central to understanding the evolution of global biodiversity. Direct fossil evidence suggests that new hexapod orders continued to originate from the Jurassic onwards, and diversity is presently higher than ever. Previous studies also suggest that several shifts in net diversification rate have occurred at higher taxonomic levels. However, their inferred timing is phylogeny dependent. We re-examine these issues using the supertree approach to provide, to our knowledge, the first composite estimates of hexapod order-level phylogeny. The Purvis matrix representation with parsimony method provides the most optimal supertree, but alternative methods are considered. Inferring ghost ranges shows richness of terminal lineages in the order-level phylogeny to peak just before the end-Permian extinction, rather than the present day, indicating that at least 11 more lineages survived this extinction than implied by fossils alone. The major upshift in diversification is associated with the origin of wings/wing folding and for the first time, to our knowledge, significant downshifts are shown associated with the origin of species-poor taxa (e.g. Neuropterida, Zoraptera). Polyneopteran phylogeny, especially the position of Zoraptera, remains important resolve because this influences findings regarding shifts in diversification. Our study shows how combining fossil with phylogenetic information can improve macroevolutionary inferences.

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Qiao, Tianbo. "Gait Control of Hexapod Robot Based on Field-Programmable Gate Array and Central Pattern Generator." Journal Européen des Systèmes Automatisés 53, no. 6 (December 23, 2020): 931–37. http://dx.doi.org/10.18280/jesa.530619.

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This paper attempts to improve the terrain adaptability of hexapod robot through gait control. Firstly, the multi-leg coupling in the tripodal gait of the hexapod robot was modeled by Hopf oscillator. Then, annular central pattern generator (CPG) was adopted to simulate the leg movements of hexapod robot between signals. Furthermore, a physical prototype was designed for the gait control test on field-programmable gate array (FPGA), and the algorithm of the rhythmic output of the model was programmed in Verilog, a hardware description language. Finally, the effectiveness of our gait control method was verified through the simulation on Xilinx. The results show that the phase difference of the CPG network remained stable; the designed hexapod robot moved at about 5.15cm/s stably in a tripodal gait, and outperformed wheeled and tracked robots in terrain adaptation. The research findings lay a solid basis for the design of all-terrain multi-leg robots.

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Yang, Jung-Min. "Gait synthesis for hexapod robots with a locked joint failure." Robotica 23, no. 6 (November 2005): 701–8. http://dx.doi.org/10.1017/s0263574705001578.

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This paper presents a strategy for generating fault-tolerant gaits of hexapod walking robots. A multi-legged robot is considered to be fault-tolerant with respect to a given failure if it is capable of continuing its walking after the occurrence of a failure, maintaining its static stability. The failure concerned in this paper is a locked joint failure for which a joint in a leg cannot move and is locked in place. The kinematic condition for the existence of fault-tolerant gaits is derived for straight-line walking of a hexapod robot on even terrain. An algorithm for generating fault-tolerant gaits is described and, especially, periodic gaits are presented for forward walking of a hexapod robot with a locked joint failure. The leg sequence and the stride length formula are analytically driven based on gait study and robot kinematics. A case study on post-failure walking of a hexapod robot with the wave gait is shown to demonstrate the applicability of the proposed method.

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Chalak, Ajit Rajshekhar, Sachin Yashwant Kale, Raj Milind Sawant, Rohit Mahesh Sane, and Prasad Liladhar Chaudhari. "Closed Reduction of Chronically Subluxated knee with Deftix (Made in India Hexapod)." Journal of Orthopaedic Case Reports 12, no. 11 (2022): 46–49. http://dx.doi.org/10.13107/jocr.2022.v12.i11.3410.

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Introduction: The aim of the study was to study results of (made in India) hexapod external fixator (HEF) (deft fix)-assisted correction in a case of knee subluxation with malunited medial tibial condyle fracture. Methodology: A subject with knee subluxation was selected for application of hexapod and Ilizarov ring fixator for staged correction of subluxation using deft fix-assisted correction. Result: The study shows anatomical reduction of the subluxated knee using HEF with deft fix-assisted correction. Conclusion: The HEF does not require frame transformation and is easier to use and is known to have the ability to correct complex multiplanar deformities better and much faster than the traditional Ilizarov ring fixator which requires multiple changes in hardware while correcting complex deformities. Software-assisted hexapod correction provides more faster and accurate correction with the ability to do fine adjustments at any stage of correction. Keywords: Hexapod fixator, external fixator, knee subluxation, deftfix.

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Journal articles on the topic 'Hexapod'

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