Motion planning for a hexapod robot over uneven terrain
This paper explores the motion planning of a hexagonal-based hexapod robot (Hexapod) for executing complex motions. The system utilized the Denavit-Hartenberg coordinate system and a kinematics system to enable individual leg control for the Hexapod. By manipulating this system within a simulation,...
| Main Authors: | , |
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| Format: | Article |
| Language: | English |
| Published: |
EDP Sciences
2023-01-01
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| Series: | MATEC Web of Conferences |
| Online Access: | https://www.matec-conferences.org/articles/matecconf/pdf/2023/15/matecconf_rapdasa2023_04023.pdf |
| _version_ | 1797343922880512000 |
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| author | Di Leva J.A. Engelbrecht J.A.A. |
| author_facet | Di Leva J.A. Engelbrecht J.A.A. |
| author_sort | Di Leva J.A. |
| collection | DOAJ |
| description | This paper explores the motion planning of a hexagonal-based hexapod robot (Hexapod) for executing complex motions. The system utilized the Denavit-Hartenberg coordinate system and a kinematics system to enable individual leg control for the Hexapod. By manipulating this system within a simulation, the Hexapod successfully demonstrated the ability to ascend and descend an obstacle, adjust its body’s height and Euler angles, and execute smooth transitions on sloped terrains. |
| first_indexed | 2024-03-08T10:54:51Z |
| format | Article |
| id | doaj.art-f8290d5465e7449e8d0832ebb9482ffa |
| institution | Directory Open Access Journal |
| issn | 2261-236X |
| language | English |
| last_indexed | 2024-03-08T10:54:51Z |
| publishDate | 2023-01-01 |
| publisher | EDP Sciences |
| record_format | Article |
| series | MATEC Web of Conferences |
| spelling | doaj.art-f8290d5465e7449e8d0832ebb9482ffa2024-01-26T16:40:09ZengEDP SciencesMATEC Web of Conferences2261-236X2023-01-013880402310.1051/matecconf/202338804023matecconf_rapdasa2023_04023Motion planning for a hexapod robot over uneven terrainDi Leva J.A.0Engelbrecht J.A.A.1Department of Electrical & Electronic Engineering, Stellenbosch UniversityDepartment of Electrical & Electronic Engineering, Stellenbosch UniversityThis paper explores the motion planning of a hexagonal-based hexapod robot (Hexapod) for executing complex motions. The system utilized the Denavit-Hartenberg coordinate system and a kinematics system to enable individual leg control for the Hexapod. By manipulating this system within a simulation, the Hexapod successfully demonstrated the ability to ascend and descend an obstacle, adjust its body’s height and Euler angles, and execute smooth transitions on sloped terrains.https://www.matec-conferences.org/articles/matecconf/pdf/2023/15/matecconf_rapdasa2023_04023.pdf |
| spellingShingle | Di Leva J.A. Engelbrecht J.A.A. Motion planning for a hexapod robot over uneven terrain MATEC Web of Conferences |
| title | Motion planning for a hexapod robot over uneven terrain |
| title_full | Motion planning for a hexapod robot over uneven terrain |
| title_fullStr | Motion planning for a hexapod robot over uneven terrain |
| title_full_unstemmed | Motion planning for a hexapod robot over uneven terrain |
| title_short | Motion planning for a hexapod robot over uneven terrain |
| title_sort | motion planning for a hexapod robot over uneven terrain |
| url | https://www.matec-conferences.org/articles/matecconf/pdf/2023/15/matecconf_rapdasa2023_04023.pdf |
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