Force threshold-based omni-directional movement for hexapod robot walking on uneven terrain

This paper presents a control strategy for improving the performance of hexapod robot walking on uneven terrain using the combination of designed force threshold-based foot motion and center-of-body (CoB) based omni directional movement. According to the several studies on omni directional movement...

Full description

Bibliographic Details
Main Authors:	Addie, Irawan, Nonami, Kenzo
Format:	Conference or Workshop Item
Language:	English
Published:	IEEE 2012
Subjects:	TK Electrical engineering. Electronics Nuclear engineering
Online Access:	http://umpir.ump.edu.my/id/eprint/26948/ http://umpir.ump.edu.my/id/eprint/26948/ http://umpir.ump.edu.my/id/eprint/26948/1/Force%20threshold-based%20omni-directional%20movement%20for%20hexapod%20robot%20walking.pdf

id	ump-26948
recordtype	eprints
spelling	ump-269482020-03-20T02:33:01Z http://umpir.ump.edu.my/id/eprint/26948/ Force threshold-based omni-directional movement for hexapod robot walking on uneven terrain Addie, Irawan Nonami, Kenzo TK Electrical engineering. Electronics Nuclear engineering This paper presents a control strategy for improving the performance of hexapod robot walking on uneven terrain using the combination of designed force threshold-based foot motion and center-of-body (CoB) based omni directional movement. According to the several studies on omni directional movement for legged robot, most of the proposed methods are targeting to avoid the unnecessary uneven ground surfaces and obstacles other than energy efficiencies. Therefore with the proposed method, the main target of study is to overcome the hexapod walking and stepping on the uneven terrain with multi-directional movements. This proposed combination method is done to guarantee the stability of the robot and increasing the flexibility of the robot during rotating and zigzaging on uneven terrain. The model platform for the study is based on hydraulically driven hexapod robot model system named COMET-IV and verified using real-time simulation with a 3D simulator. IEEE 2012 Conference or Workshop Item PeerReviewed pdf en http://umpir.ump.edu.my/id/eprint/26948/1/Force%20threshold-based%20omni-directional%20movement%20for%20hexapod%20robot%20walking.pdf Addie, Irawan and Nonami, Kenzo (2012) Force threshold-based omni-directional movement for hexapod robot walking on uneven terrain. In: IEEE 4th International Conference on Computational Intelligence, Modelling and Simulation (CIMSim 2012), 25-27 September 2012 , Kuantan, Pahang Darul Makmur. pp. 127-132.. ISBN 978-1-4673-3113-5 https://doi.org/10.1109/CIMSim.2012.13
repository_type	Digital Repository
institution_category	Local University
institution	Universiti Malaysia Pahang
building	UMP Institutional Repository
collection	Online Access
language	English
topic	TK Electrical engineering. Electronics Nuclear engineering
spellingShingle	TK Electrical engineering. Electronics Nuclear engineering Addie, Irawan Nonami, Kenzo Force threshold-based omni-directional movement for hexapod robot walking on uneven terrain
description	This paper presents a control strategy for improving the performance of hexapod robot walking on uneven terrain using the combination of designed force threshold-based foot motion and center-of-body (CoB) based omni directional movement. According to the several studies on omni directional movement for legged robot, most of the proposed methods are targeting to avoid the unnecessary uneven ground surfaces and obstacles other than energy efficiencies. Therefore with the proposed method, the main target of study is to overcome the hexapod walking and stepping on the uneven terrain with multi-directional movements. This proposed combination method is done to guarantee the stability of the robot and increasing the flexibility of the robot during rotating and zigzaging on uneven terrain. The model platform for the study is based on hydraulically driven hexapod robot model system named COMET-IV and verified using real-time simulation with a 3D simulator.
format	Conference or Workshop Item
author	Addie, Irawan Nonami, Kenzo
author_facet	Addie, Irawan Nonami, Kenzo
author_sort	Addie, Irawan
title	Force threshold-based omni-directional movement for hexapod robot walking on uneven terrain
title_short	Force threshold-based omni-directional movement for hexapod robot walking on uneven terrain
title_full	Force threshold-based omni-directional movement for hexapod robot walking on uneven terrain
title_fullStr	Force threshold-based omni-directional movement for hexapod robot walking on uneven terrain
title_full_unstemmed	Force threshold-based omni-directional movement for hexapod robot walking on uneven terrain
title_sort	force threshold-based omni-directional movement for hexapod robot walking on uneven terrain
publisher	IEEE
publishDate	2012
url	http://umpir.ump.edu.my/id/eprint/26948/ http://umpir.ump.edu.my/id/eprint/26948/ http://umpir.ump.edu.my/id/eprint/26948/1/Force%20threshold-based%20omni-directional%20movement%20for%20hexapod%20robot%20walking.pdf
first_indexed	2023-09-18T22:42:17Z
last_indexed	2023-09-18T22:42:17Z
_version_	1777416994334703616

Force threshold-based omni-directional movement for hexapod robot walking on uneven terrain

Similar Items