Force threshold-based omni-directional movement for hexapod robot walking on uneven terrain
This paper presents a control strategy for improving the performance of hexapod robot walking on uneven terrain using the combination of designed force threshold-based foot motion and center-of-body (CoB) based omni directional movement. According to the several studies on omni directional movement...
| Main Authors: | , |
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| Format: | Conference or Workshop Item |
| Language: | English |
| Published: |
IEEE
2012
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| Subjects: | |
| Online Access: | http://umpir.ump.edu.my/id/eprint/26948/1/Force%20threshold-based%20omni-directional%20movement%20for%20hexapod%20robot%20walking.pdf |
| _version_ | 1825813074691489792 |
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| author | Addie Irawan, Hashim Nonami, Kenzo |
| author_facet | Addie Irawan, Hashim Nonami, Kenzo |
| author_sort | Addie Irawan, Hashim |
| collection | UMP |
| description | This paper presents a control strategy for improving the performance of hexapod robot walking on uneven terrain using the combination of designed force threshold-based foot motion and center-of-body (CoB) based omni directional movement. According to the several studies on omni directional movement for legged robot, most of the proposed methods are targeting to avoid the unnecessary uneven ground surfaces and obstacles other than energy efficiencies. Therefore with the proposed method, the main target of study is to overcome the hexapod walking and stepping on the uneven terrain with multi-directional movements. This proposed combination method is done to guarantee the stability of the robot and increasing the flexibility of the robot during rotating and zigzaging on uneven terrain. The model platform for the study is based on hydraulically driven hexapod robot model system named COMET-IV and verified using real-time simulation with a 3D simulator. |
| first_indexed | 2024-03-06T12:38:37Z |
| format | Conference or Workshop Item |
| id | UMPir26948 |
| institution | Universiti Malaysia Pahang |
| language | English |
| last_indexed | 2024-03-06T12:38:37Z |
| publishDate | 2012 |
| publisher | IEEE |
| record_format | dspace |
| spelling | UMPir269482020-09-07T08:30:52Z http://umpir.ump.edu.my/id/eprint/26948/ Force threshold-based omni-directional movement for hexapod robot walking on uneven terrain Addie Irawan, Hashim Nonami, Kenzo TK Electrical engineering. Electronics Nuclear engineering This paper presents a control strategy for improving the performance of hexapod robot walking on uneven terrain using the combination of designed force threshold-based foot motion and center-of-body (CoB) based omni directional movement. According to the several studies on omni directional movement for legged robot, most of the proposed methods are targeting to avoid the unnecessary uneven ground surfaces and obstacles other than energy efficiencies. Therefore with the proposed method, the main target of study is to overcome the hexapod walking and stepping on the uneven terrain with multi-directional movements. This proposed combination method is done to guarantee the stability of the robot and increasing the flexibility of the robot during rotating and zigzaging on uneven terrain. The model platform for the study is based on hydraulically driven hexapod robot model system named COMET-IV and verified using real-time simulation with a 3D simulator. IEEE 2012 Conference or Workshop Item PeerReviewed pdf en http://umpir.ump.edu.my/id/eprint/26948/1/Force%20threshold-based%20omni-directional%20movement%20for%20hexapod%20robot%20walking.pdf Addie Irawan, Hashim and Nonami, Kenzo (2012) Force threshold-based omni-directional movement for hexapod robot walking on uneven terrain. In: IEEE 4th International Conference on Computational Intelligence, Modelling and Simulation (CIMSim 2012) , 25-27 September 2012 , Kuantan, Pahang Darul Makmur. pp. 127-132.. ISBN 978-1-4673-3113-5 (Published) https://doi.org/10.1109/CIMSim.2012.13 |
| spellingShingle | TK Electrical engineering. Electronics Nuclear engineering Addie Irawan, Hashim Nonami, Kenzo Force threshold-based omni-directional movement for hexapod robot walking on uneven terrain |
| title | Force threshold-based omni-directional movement for hexapod robot walking on uneven terrain |
| title_full | Force threshold-based omni-directional movement for hexapod robot walking on uneven terrain |
| title_fullStr | Force threshold-based omni-directional movement for hexapod robot walking on uneven terrain |
| title_full_unstemmed | Force threshold-based omni-directional movement for hexapod robot walking on uneven terrain |
| title_short | Force threshold-based omni-directional movement for hexapod robot walking on uneven terrain |
| title_sort | force threshold based omni directional movement for hexapod robot walking on uneven terrain |
| topic | TK Electrical engineering. Electronics Nuclear engineering |
| url | http://umpir.ump.edu.my/id/eprint/26948/1/Force%20threshold-based%20omni-directional%20movement%20for%20hexapod%20robot%20walking.pdf |
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