Design and Control of 7-DOF Omni-directional Hexapod Robot

Kód výsledku v IS VaVaI

RIV/00216305:26230/20:PU138646 - isvavai.cz

Výsledek na webu

https://www.fit.vut.cz/research/publication/12187/

DOI - Digital Object Identifier

10.1515/comp-2020-0189

Jazyk výsledku

angličtina

Název v původním jazyce

Design and Control of 7-DOF Omni-directional Hexapod Robot

Popis výsledku v původním jazyce

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.

Název v anglickém jazyce

Design and Control of 7-DOF Omni-directional Hexapod Robot

Popis výsledku anglicky

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.

Druh

J_imp - Článek v periodiku v databázi Web of Science

CEP obor

—

OECD FORD obor

10201 - Computer sciences, information science, bioinformathics (hardware development to be 2.2, social aspect to be 5.8)

Projekt

LQ1602: IT4Innovations excellence in science

Návaznosti

P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Rok uplatnění

2020

Kód důvěrnosti údajů

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Název periodika

Open Computer Science

ISSN

2299-1093

e-ISSN

—

Svazek periodika

11

Číslo periodika v rámci svazku

1

Stát vydavatele periodika

DE - Spolková republika Německo

Počet stran výsledku

10

Strana od-do

80-89

Kód UT WoS článku

000608693100001

EID výsledku v databázi Scopus

2-s2.0-85099139318