scholarly journals Wheel-legged Integrated Hexapod Robot

2019 ◽  
Vol 3 (6) ◽  
pp. 9-10
Author(s):  
Kaicheng Yu
Keyword(s):  
Electronic Devices ◽  
Structure Design ◽  
Main Process ◽  
Legged Robot ◽  
Hexapod Robot ◽  
Routine Inspection

This research is applied mainly for routine inspection, rescue missions in multi-terrains environment. The main process of developing this hexapod based wheel-legged robot includes mechanism structure design, electronic devices configuration, gaits’ control adjustment and pathing route simulation. With the use of transformable wheel-legs, the robot can run flexibly in flat under the wheeled mode, and through the gear and mechanism system, it would shift to legged mode to show enough capability for overring the unstructured obstacles. As the expectation, this robot would have bright prospects for variable terrains application and substitute current rivals by its higher efficiency and adaptability.

Force-Position Hybrid Control of a New Parallel Hexapod Robot for Drilling Holes on Fuselage Surface

2013 ◽  
Author(s):  
Xianchao Zhao ◽  
Yang Pan ◽  
Feng Gao
Keyword(s):  
Dynamic Model ◽  
Force Control ◽  
Parallel Mechanism ◽  
Control Method ◽  
Hybrid Control ◽  
Control Mode ◽  
Work Status ◽  
Legged Robot ◽  
Hexapod Robot ◽  
Robot Performance

In this paper, a new kind of 6-legged robot for drilling holes on the aircraft surface is presented. Each leg of the robot is a parallel mechanism with 3 degree of freedoms thus the robot includes totally 18 motors. Due to different work status, the control modes of these motors are also different and thus the force-position hybrid control method is applied. The kinematic and dynamic model is briefly introduced. Then the robot gait is discussed. After that hybrid control method is introduced: first the control mode of each motor should be determined, then the position or force control curves should be calculated. In the end of this paper, both virtual and real prototype of this robot is showed and the experiment result showed that the hybrid control method can significantly improve the robot performance.

Analysis and Structure Design of the Underwater Hexapod Robot Leg

2021 ◽  
Author(s):  
Zhang Lianzhao ◽  
Wang Pengfei ◽  
Zha Fusheng ◽  
Bi Xiuwen ◽  
Guo Wei ◽  
...  
Keyword(s):  
Structure Design ◽  
Hexapod Robot ◽  
Robot Leg

A Distributed Neural Network Architecture for Hexapod Robot Locomotion

1992 ◽  
Vol 4 (3) ◽  
pp. 356-365 ◽  
Author(s):  
Randall D. Beer ◽  
Hillel J. Chiel ◽  
Roger D. Quinn ◽  
Kenneth S. Espenschied ◽  
Patrik Larsson
Keyword(s):  
Neural Network ◽  
Real World ◽  
Network Architecture ◽  
Command Neuron ◽  
Legged Robot ◽  
Hexapod Robot ◽  
Neural Network Architecture ◽  
Insect Locomotion ◽  
Robot Locomotion ◽  
Continuous Range

We present fully distributed neural network architecture for controlling the locomotion of a hexapod robot. The design of this network is directly based on work on the neuroethology of insect locomotion. Previously, we demonstrated in simulation that this controller could generate a continuous range of statically stable insect-like gaits as the activity of a single command neuron was varied and that it was robust to a variety of lesions. We now report that the controller can be utilized to direct the locomotion of an actual six-legged robot, and that it exhibits a range of gaits and degree of robustness in the real world that is quite similar to that observed in simulation.

Dynamic Modeling and Control of the Hexapod Robot Using Matlab SimMechanics

2018 ◽  
Author(s):  
Sameh I. Beaber ◽  
Abdelrahman S. Zaghloul ◽  
Mohamed A. Kamel ◽  
Wessam M. Hussein
Keyword(s):  
Dynamic Modeling ◽  
Kinematic Model ◽  
Inverse Kinematic ◽  
Legged Robot ◽  
Hexapod Robot ◽  
Modeling And Control ◽  
Robot Trajectory ◽  
Tripod Gait ◽  
Inverse Kinematic Analysis ◽  
And Control

This paper presents a detailed dynamic modeling of phantom ax12 six-legged robot using Matlab SimMechanics™. The direct and inverse kinematic analysis for each leg has been considered in order to develop an overall kinematic model of the robot. Trajectory of each leg is also considered for both swing and support phases when the robot walks with tripod gait in a straight path. Newton-Euler formulation has been utilized to determine the joint’s torque. These results were verified using SimMechanics™. Also, feet force distributions of the hexpaod are estimated via SimMechanics™, which is necessary for its control.

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

2020 ◽  
Vol 11 (1) ◽  
pp. 80-89
Author(s):  
Marek Žák ◽  
Jaroslav Rozman ◽  
František V. Zbořil
Keyword(s):  
Degrees Of Freedom ◽  
Travel Speed ◽  
Legged Robots ◽  
Movement Speed ◽  
Legged Robot ◽  
Hexapod Robot ◽  
Unique Combination ◽  
Two Degrees Of Freedom ◽  
And Control ◽  
Omnidirectional Wheels

AbstractLegged 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 omnidirectional 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 omnidirectional 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.

scholarly journals Recent Progress on Bioresorbable Passive Electronic Devices and Systems

Micromachines ◽  
2021 ◽  
Vol 12 (6) ◽  
pp. 600
Author(s):  
Zhihuan Wei ◽  
Zhongying Xue ◽  
Qinglei Guo
Keyword(s):  
Biomedical Engineering ◽  
Recent Progress ◽  
Data Extraction ◽  
Electronic Devices ◽  
Structure Design ◽  
Electronic Components ◽  
Secondary Surgery ◽  
Passive Components ◽  
Passive Devices ◽  
Monitoring Drug

Bioresorbable electronic devices and/or systems are of great appeal in the field of biomedical engineering due to their unique characteristics that can be dissolved and resorbed after a predefined period, thus eliminating the costs and risks associated with the secondary surgery for retrieval. Among them, passive electronic components or systems are attractive for the clear structure design, simple fabrication process, and ease of data extraction. This work reviews the recent progress on bioresorbable passive electronic devices and systems, with an emphasis on their applications in biomedical engineering. Materials strategies, device architectures, integration approaches, and applications of bioresorbable passive devices are discussed. Furthermore, this work also overviews wireless passive systems fabricated with the combination of various passive components for vital sign monitoring, drug delivering, and nerve regeneration. Finally, we conclude with some perspectives on future fundamental studies, application opportunities, and remaining challenges of bioresorbable passive electronics.

scholarly journals Penerapan Algoritma Tripod Gait pada Robot Hexapod Menggunakan Arduino Mega128

2017 ◽  
Vol 7 (1) ◽  
pp. 37
Author(s):  
Andi Chairunnas
Keyword(s):  
Robot Control ◽  
Rotary Motion ◽  
Legged Robot ◽  
Hexapod Robot ◽  
Servo Motor ◽  
End Effector ◽  
Left Turn ◽  
Average Speed ◽  
Tripod Gait ◽  
Forward Kinematic

<em>The movement of the robot with wheels almost do not experience problems setting when road conditions tend to be flat or bypassed. However, problems arise when the condition of the streets where tend to be broken or wavy. With these problems legged robot is suitable for solving the problem. Legged robot itself is divided on several types, among others, two-legged robot (humanoid), four-legged robot (Quadpod), and a six-legged robot (Hexapod). This research will be discussed on how to build a Hexapod robot control at the system by applying the pattern step tripod gait on a Hexapod robot so that the accuracy of movement applied on a Hexapod Robot will produce the maximal movement patterns. In addition before determining the pattern step shall be applied forward gait tripod kinematic. Generally forward kinematic derived from around the corner join configuration so that the position of the end effector in Cartesian spaces (x, y) can determine the position of the corners on a servo motor from different corners of the position or angle of the servo value used to form the shape of the foot of each leg can determine the changes when the maneuver. It was only the application of pattern step tripod gait can be done, the robot can run well and constant can even generate some movement such as forward, backward, turn left, turn right. On testing the movement Forward in open areas and advanced on the Area Covered with an average speed of 5 cm/s, testing Motion backward on open areas and retreat in enclosed areas with an average speed of 4.32 cm/s, testing the rotary motion Right on open and Turning Right on Closed with an average speed of 13 degrees/minutes, testing the rotary motion of the left in the open and Turning left on Closed with an average speed of 12.85 degrees/sec The power needed, overall testing on areas of open and enclosed areas is 0.3 Volts with an overall duration of use 240.8 seconds.</em>

scholarly journals Generation of Inverted Locomotion Gait for Multi-Legged Robots Using a Spherical Magnet Joint and Adjustable Sleeve

2021 ◽  
Author(s):  
Harn Sison ◽  
Photchara Ratsamee ◽  
Manabu Higashida ◽  
Yuki Uranashi ◽  
Takemura Haruo
Keyword(s):  
Reaction Force ◽  
Steel Structures ◽  
Quadruped Robot ◽  
Legged Robots ◽  
Legged Robot ◽  
Hexapod Robot ◽  
Foot Placement ◽  
Predominant Type ◽  
Different Types ◽  
Tripod Gait

Abstract In this paper, we propose a design and an implementation of spherical magnet joint (SMJ) - based gait generation for inverted locomotion of multi-legged robots. A spherical permanent magnet is selected to generate a consistent attractive force for the robot to perform inverted locomotion under steel structures. Additionally, the tip of the robot's foot is designed as a ball-joint mechanism to give flexibility to the foot placement at any angle between the tip and surfaces. We also propose an adjustable sleeve mechanism to detach the tip of the foot during locomotion by creating a fulcrum point during the tilt and pull step. As a result, the reaction force can be reduced according to sleeve diameter. Experimental results show that the presented load decreased by 46% from direct pulling with the adjustable sleeve mechanism. For inverted locomotion, a quadruped robot and a hexapod robot were constructed to represent the predominant type of multi-legged robot. We integrated the SMJ and the adjustable sleeve on both robots and performed the inverted locomotion with a crawling gait, a trotting gait, a square gait, and a tripod gait. Our analysis demonstrates the characteristics of each gait in terms of velocity, stability, guaranteeing the versatility of our proposed SMJ, which can be applied to different types of legged robots.

Convective Heat Transfer of Parallel-Flow and Counter-Flow Double-Layer Microchannel Heat Sinks in Staggered Arrangement

2017 ◽  
Author(s):  
Han Shen ◽  
Yingchun Zhang ◽  
Hongbin Yan ◽  
Bengt Sunden ◽  
Gongnan Xie
Keyword(s):  
Heat Transfer ◽  
Double Layer ◽  
Electronic Devices ◽  
Structure Design ◽  
Parallel Flow ◽  
Heat Sinks ◽  
Counter Flow ◽  
Microchannel Heat Sinks ◽  
Staggered Arrangement ◽  
Flow Case

Previous research has proved Double-layer Microchannel Heat Sinks (MHSs) to be efficient ways to improve the cooling performance of electronic devices. However, the cooling potential of the upper working liquid cannot be fully utilized to cool down the substrate with the heated elements. In this sense, a concept of staggered double-layer MHS is proposed and designed. The parallel and counter flow directions are considered to investigate the flow arrangement effect. The Reynolds number effect, Nusselt number and pressure drop are analyzed in detail and compared with those of a parallel straight double-layer MHS. It is found that the staggered double-layer MHSs exhibit much better heat transfer enhancement and overall thermal performance compared with the parallel straight double-layer MHS. For the staggered double-layer MHSs, the counter flow case is superior to the parallel flow case. This research provides a new structure design to enhance the heat transfer in microchannel heat sinks and broad application prospects for heat sinks in the thermal management of high power density electronic devices.

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