Immersive Operation System for Hexapod Robot with Follow-the-Contact-Point Gait Control

2021 ◽  
Author(s):  
Yuya Murai ◽  
Shinkichi Inagaki ◽  
Tatsuya Suzuki
Keyword(s):  
Contact Point ◽  
Hexapod Robot ◽  
Gait Control ◽  
Operation System

scholarly journals Gait Control of Hexapod Robot Based on Field-Programmable Gate Array and Central Pattern Generator

2020 ◽  
Vol 53 (6) ◽  
pp. 931-937
Author(s):  
Tianbo Qiao
Keyword(s):  
Central Pattern Generator ◽  
Field Programmable Gate Array ◽  
Control Method ◽  
Pattern Generator ◽  
Hexapod Robot ◽  
Gait Control ◽  
Field Programmable ◽  
Physical Prototype ◽  
Hardware Description ◽  
Gate Array

This paper attempts to improve the terrain adaptability of hexapod robot through gait control. Firstly, the multi-leg coupling in the tripodal gait of the hexapod robot was modeled by Hopf oscillator. Then, annular central pattern generator (CPG) was adopted to simulate the leg movements of hexapod robot between signals. Furthermore, a physical prototype was designed for the gait control test on field-programmable gate array (FPGA), and the algorithm of the rhythmic output of the model was programmed in Verilog, a hardware description language. Finally, the effectiveness of our gait control method was verified through the simulation on Xilinx. The results show that the phase difference of the CPG network remained stable; the designed hexapod robot moved at about 5.15cm/s stably in a tripodal gait, and outperformed wheeled and tracked robots in terrain adaptation. The research findings lay a solid basis for the design of all-terrain multi-leg robots.

scholarly journals Research on Gait control algorithm of Bionic Hexapod Robot System based on Adams and Matlab

2019 ◽  
Vol 332 ◽  
pp. 042036
Author(s):  
Fenghui Xu ◽  
Yongxing Jia ◽  
Zhidong Jia ◽  
Hao Chen ◽  
Xueshuai Guan ◽  
...  
Keyword(s):  
Control Algorithm ◽  
Hexapod Robot ◽  
Robot System ◽  
Gait Control
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