Design and Control of 7-DOF Omni-directional Hexapod Robot
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F00216305%3A26230%2F20%3APU138646" target="_blank" >RIV/00216305:26230/20:PU138646 - isvavai.cz</a>
Result on the web
<a href="https://www.fit.vut.cz/research/publication/12187/" target="_blank" >https://www.fit.vut.cz/research/publication/12187/</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1515/comp-2020-0189" target="_blank" >10.1515/comp-2020-0189</a>
Alternative languages
Result language
angličtina
Original language name
Design and Control of 7-DOF Omni-directional Hexapod Robot
Original language description
Legged robots have great potential to travel across various types of terrain. Their many degrees of freedom enable them to navigate through difficult terrains, narrow spaces or various obstacles and they can move even after losing a leg. However, legged robots mostly move quite slowly. This paper deals with the design and construction of an omni-directional seven degrees of freedom hexapod (i.e., six-legged) robot, which is equipped with omni-directional wheels (two degrees of freedom are used, one for turning the wheel and one for the wheel itself) usable on flat terrain to increase travel speed and an additional coxa joint that makes the robot more robust when climbing inclined terrains. This unique combination of omni-directional wheels and additional coxa joint makes the robot not only much faster but also more robust in rough terrains and allows the robot to ride inclined terrains up to 40 degrees and remain statically stable in slopes up to 50 degrees. The robot is controlled by a terrain adaptive movement controller which adjusts the movement speed and the gait of the robot according to terrain conditions.
Czech name
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Czech description
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Classification
Type
J<sub>imp</sub> - Article in a specialist periodical, which is included in the Web of Science database
CEP classification
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OECD FORD branch
10201 - Computer sciences, information science, bioinformathics (hardware development to be 2.2, social aspect to be 5.8)
Result continuities
Project
<a href="/en/project/LQ1602" target="_blank" >LQ1602: IT4Innovations excellence in science</a><br>
Continuities
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)
Others
Publication year
2020
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů
Data specific for result type
Name of the periodical
Open Computer Science
ISSN
2299-1093
e-ISSN
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Volume of the periodical
11
Issue of the periodical within the volume
1
Country of publishing house
DE - GERMANY
Number of pages
10
Pages from-to
80-89
UT code for WoS article
000608693100001
EID of the result in the Scopus database
2-s2.0-85099139318