Trends in the Control of Hexapod Robots: A Survey
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 applicat...
| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2021-08-01
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| Series: | Robotics |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2218-6581/10/3/100 |
| _version_ | 1797517273283428352 |
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| author | Joana Coelho Fernando Ribeiro Bruno Dias Gil Lopes Paulo Flores |
| author_facet | Joana Coelho Fernando Ribeiro Bruno Dias Gil Lopes Paulo Flores |
| author_sort | Joana Coelho |
| collection | DOAJ |
| description | 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. |
| first_indexed | 2024-03-10T07:14:26Z |
| format | Article |
| id | doaj.art-62228ceeaeb741fbae62e168b085d0eb |
| institution | Directory Open Access Journal |
| issn | 2218-6581 |
| language | English |
| last_indexed | 2024-03-10T07:14:26Z |
| publishDate | 2021-08-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Robotics |
| spelling | doaj.art-62228ceeaeb741fbae62e168b085d0eb2023-11-22T15:09:17ZengMDPI AGRobotics2218-65812021-08-0110310010.3390/robotics10030100Trends in the Control of Hexapod Robots: A SurveyJoana Coelho0Fernando Ribeiro1Bruno Dias2Gil Lopes3Paulo Flores4CMEMS-UMinho, Department of Mechanical Engineering, Campus de Azurém, University of Minho, 4800-058 Guimarães, PortugalCenter Algoritmi, Department of Industrial Electronics, Campus de Azurém, University of Minho, 4800-058 Guimarães, PortugalCenter Algoritmi, Department of Informatics, Campus de Gualtar, University of Minho, 4710-057 Braga, PortugalAvenida Carlos de Oliveira Campos, University Institute of Maia, 4475-690 Maia, PortugalCMEMS-UMinho, Department of Mechanical Engineering, Campus de Azurém, University of Minho, 4800-058 Guimarães, PortugalThe 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.https://www.mdpi.com/2218-6581/10/3/100mobile robotshexapodsliterature review |
| spellingShingle | Joana Coelho Fernando Ribeiro Bruno Dias Gil Lopes Paulo Flores Trends in the Control of Hexapod Robots: A Survey Robotics mobile robots hexapods literature review |
| title | Trends in the Control of Hexapod Robots: A Survey |
| title_full | Trends in the Control of Hexapod Robots: A Survey |
| title_fullStr | Trends in the Control of Hexapod Robots: A Survey |
| title_full_unstemmed | Trends in the Control of Hexapod Robots: A Survey |
| title_short | Trends in the Control of Hexapod Robots: A Survey |
| title_sort | trends in the control of hexapod robots a survey |
| topic | mobile robots hexapods literature review |
| url | https://www.mdpi.com/2218-6581/10/3/100 |
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