hexapod robot
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Author(s):  
Quang Hoan Le ◽  
WangHun Lee ◽  
YoungShik Kim ◽  
Bong-Jo Ryu ◽  
Hyun-ho Shim ◽  
...  

2021 ◽  
Vol 2083 (4) ◽  
pp. 042036
Author(s):  
Yan Fu

Abstract In order to solve the problem of autonomous recognition of hexapod robot and realize the intelligent and humanized development of robot, OpenMV is taken as the main platform, hexapod robot is taken as the main machine carrier, Python is taken as the main development language, C language is taken as the auxiliary development language, and the reasonable application of image processing technology is added. A simple visual recognition system based on OpenMV is designed to realize the application of visual recognition.


2021 ◽  
pp. 4337-4350
Author(s):  
Haoqing Tan ◽  
Haixu Zhang ◽  
Yunting Wang ◽  
Ziheng Huang ◽  
Liang Li ◽  
...  

2021 ◽  
Author(s):  
Zhang Lianzhao ◽  
Wang Pengfei ◽  
Zha Fusheng ◽  
Bi Xiuwen ◽  
Guo Wei ◽  
...  

2021 ◽  
pp. 273-281
Author(s):  
Fernando Gómez-Bravo ◽  
Alejandro Garrocho Cruz ◽  
Giuseppe Carbone

Author(s):  
Kelen C. Teixeira Vivaldini ◽  
Gustavo Franco Barbosa ◽  
Igor Araujo Dias Santos ◽  
Pedro H. C. Kim ◽  
Grayson McMichael ◽  
...  

2021 ◽  
Vol 11 (19) ◽  
pp. 9217
Author(s):  
Haichuang Xia ◽  
Xiaoping Zhang ◽  
Hong Zhang

Compared with wheeled and tracked robots, legged robots have better movement ability and are more suitable for the exploration of unknown environments. In order to further improve the adaptability of legged robots to complex terrains such as slopes, obstacle environments, and so on, this paper makes a new design of the legged robot’s foot sensing structure that can successfully provide accurate feedback of the landing information. Based on this information, a new foot trajectory planning method named three-element trajectory determination method is proposed. For each leg in one movement period, the three elements are the start point in the support phase, the end point in the support phase, and the joint angle changes in the transfer phase where the first two elements are used to control the height, distance, and direction of the movement, and the third element is used make decisions during the lifting process of the leg. For the support phase, the trajectory is described in Cartesian space, and a spline of linear function with parabolic blends is used. For the transfer phase, the trajectory is described in joint-space, and the joint angle function is designed as the superposition of the joint angle reverse-chronological function and the interpolation function which is obtained based on joint angle changes. As an important legged robot, a hexapod robot that we designed by ourselves with triangle gait is chosen to test the proposed foot trajectory planning method. Experiments show that, while the foot’s landing information can be read and based on the three-element trajectory planning method, the hexapod robot can achieve stable movement even in very complex scenes. Although the experiments are performed on a hexapod robot, our method is applicable to all forms of legged robots.


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