Hexa-Quad Transformation Control for Hexapod Robot Based on Support Polygon Pattern

This paper presents a leg reconfigurable technique to optimize the multi-legged robot operation and walking performances. A hexapod-to-quadruped (Hexa-Quad) transformation technique is proposed to optimize hexapod legs on certain situation that need some legs to be disabled as a leg to do other task...

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Main Authors:	Irawan, Addie, Tan, Yee Yin, Mohd Syakirin, Ramli, Mohd Riduwan, Ghazali, Nonami, Kenzo
Format:	Conference or Workshop Item
Language:	English
Published:	2013
Subjects:	TK Electrical engineering. Electronics Nuclear engineering
Online Access:	http://umpir.ump.edu.my/id/eprint/5578/ http://umpir.ump.edu.my/id/eprint/5578/1/fkee-2014-35.pdf

id	ump-5578
recordtype	eprints
spelling	ump-55782018-02-08T03:48:42Z http://umpir.ump.edu.my/id/eprint/5578/ Hexa-Quad Transformation Control for Hexapod Robot Based on Support Polygon Pattern Irawan, Addie Tan, Yee Yin Mohd Syakirin, Ramli Mohd Riduwan, Ghazali Nonami, Kenzo TK Electrical engineering. Electronics Nuclear engineering This paper presents a leg reconfigurable technique to optimize the multi-legged robot operation and walking performances. A hexapod-to-quadruped (Hexa-Quad) transformation technique is proposed to optimize hexapod legs on certain situation that need some legs to be disabled as a leg to do other tasks/operations. By separating two legs from the others, hexapod robot is able to be configured as quadruped robot configuration. Quadruped robot configuration is stand within dynamically and statically stable criteria if compare to the hexapod robot that has only statically stable criteria. Thus, it is very crucial to have a stable transformation technique during walking and operation session. Therefore Hexa-Quad is proposed with reference to the defined support polygon that based on its body area. A real-time based model of hexapod robot (4-DOF/leg) control architecture with Hexa-Quad transformation is designed and verified using separated 3D simulators. 2013 Conference or Workshop Item PeerReviewed application/pdf en http://umpir.ump.edu.my/id/eprint/5578/1/fkee-2014-35.pdf Irawan, Addie and Tan, Yee Yin and Mohd Syakirin, Ramli and Mohd Riduwan, Ghazali and Nonami, Kenzo (2013) Hexa-Quad Transformation Control for Hexapod Robot Based on Support Polygon Pattern. In: The 8th international Sysmposium on Artificial Life and Robotics (AROB 2013), 30 January - 1 February 2013 , Daejeon Convention Center (DCC), Daejeon, Korea. pp. 529-534..
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 Irawan, Addie Tan, Yee Yin Mohd Syakirin, Ramli Mohd Riduwan, Ghazali Nonami, Kenzo Hexa-Quad Transformation Control for Hexapod Robot Based on Support Polygon Pattern
description	This paper presents a leg reconfigurable technique to optimize the multi-legged robot operation and walking performances. A hexapod-to-quadruped (Hexa-Quad) transformation technique is proposed to optimize hexapod legs on certain situation that need some legs to be disabled as a leg to do other tasks/operations. By separating two legs from the others, hexapod robot is able to be configured as quadruped robot configuration. Quadruped robot configuration is stand within dynamically and statically stable criteria if compare to the hexapod robot that has only statically stable criteria. Thus, it is very crucial to have a stable transformation technique during walking and operation session. Therefore Hexa-Quad is proposed with reference to the defined support polygon that based on its body area. A real-time based model of hexapod robot (4-DOF/leg) control architecture with Hexa-Quad transformation is designed and verified using separated 3D simulators.
format	Conference or Workshop Item
author	Irawan, Addie Tan, Yee Yin Mohd Syakirin, Ramli Mohd Riduwan, Ghazali Nonami, Kenzo
author_facet	Irawan, Addie Tan, Yee Yin Mohd Syakirin, Ramli Mohd Riduwan, Ghazali Nonami, Kenzo
author_sort	Irawan, Addie
title	Hexa-Quad Transformation Control for Hexapod Robot Based on Support Polygon Pattern
title_short	Hexa-Quad Transformation Control for Hexapod Robot Based on Support Polygon Pattern
title_full	Hexa-Quad Transformation Control for Hexapod Robot Based on Support Polygon Pattern
title_fullStr	Hexa-Quad Transformation Control for Hexapod Robot Based on Support Polygon Pattern
title_full_unstemmed	Hexa-Quad Transformation Control for Hexapod Robot Based on Support Polygon Pattern
title_sort	hexa-quad transformation control for hexapod robot based on support polygon pattern
publishDate	2013
url	http://umpir.ump.edu.my/id/eprint/5578/ http://umpir.ump.edu.my/id/eprint/5578/1/fkee-2014-35.pdf
first_indexed	2023-09-18T22:00:55Z
last_indexed	2023-09-18T22:00:55Z
_version_	1777414392385634304

Hexa-Quad Transformation Control for Hexapod Robot Based on Support Polygon Pattern

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