Optimizing Hexapod Robot Reconfiguration using Hexa-Quad Transformation

This paper presents a leg reconfigurable technique to optimize the hexapod robot reconfiguration flexiblity. 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 and operati...

Full description

Bibliographic Details
Main Authors:	Irawan, Addie, Yin Tan, Yee
Format:	Article
Language:	English English
Published:	Institute of Advanced Engineering and Science 2014
Subjects:	TK Electrical engineering. Electronics Nuclear engineering
Online Access:	http://umpir.ump.edu.my/id/eprint/6570/ http://umpir.ump.edu.my/id/eprint/6570/ http://umpir.ump.edu.my/id/eprint/6570/ http://umpir.ump.edu.my/id/eprint/6570/1/Optimizing_Hexapod_Robot_Reconfiguration_using_Hexa-Quad_Transformation.pdf http://umpir.ump.edu.my/id/eprint/6570/3/Optimizing%20Hexapod%20Robot%20Reconfiguration%20.pdf

id	ump-6570
recordtype	eprints
spelling	ump-65702018-04-18T02:39:45Z http://umpir.ump.edu.my/id/eprint/6570/ Optimizing Hexapod Robot Reconfiguration using Hexa-Quad Transformation Irawan, Addie Yin Tan, Yee TK Electrical engineering. Electronics Nuclear engineering This paper presents a leg reconfigurable technique to optimize the hexapod robot reconfiguration flexiblity. 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 and operations. This proposed method used the factor of center of body (CoB) stability in the support polygon and its body shape. The reinitialized leg’s shoulder method is proposed to ensure the support polygon is balanced and confirmed the CoM nearly or at the center. This method is modeled and simulated in a real-time based model of hexapod robot with 4-DOF/leg control architecture. The model is verified in numerical model and presented using separated 3D simulators. Institute of Advanced Engineering and Science 2014 Article PeerReviewed application/pdf en http://umpir.ump.edu.my/id/eprint/6570/1/Optimizing_Hexapod_Robot_Reconfiguration_using_Hexa-Quad_Transformation.pdf application/pdf en http://umpir.ump.edu.my/id/eprint/6570/3/Optimizing%20Hexapod%20Robot%20Reconfiguration%20.pdf Irawan, Addie and Yin Tan, Yee (2014) Optimizing Hexapod Robot Reconfiguration using Hexa-Quad Transformation. International Journal of Robotics and Automation (IJRA), 3 (2). pp. 139-150. ISSN 2089-4856 http://dx.doi.org/10.11591/ijra.v3i2.5936 DOI: 10.11591/ijra.v3i2.5936
repository_type	Digital Repository
institution_category	Local University
institution	Universiti Malaysia Pahang
building	UMP Institutional Repository
collection	Online Access
language	English English
topic	TK Electrical engineering. Electronics Nuclear engineering
spellingShingle	TK Electrical engineering. Electronics Nuclear engineering Irawan, Addie Yin Tan, Yee Optimizing Hexapod Robot Reconfiguration using Hexa-Quad Transformation
description	This paper presents a leg reconfigurable technique to optimize the hexapod robot reconfiguration flexiblity. 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 and operations. This proposed method used the factor of center of body (CoB) stability in the support polygon and its body shape. The reinitialized leg’s shoulder method is proposed to ensure the support polygon is balanced and confirmed the CoM nearly or at the center. This method is modeled and simulated in a real-time based model of hexapod robot with 4-DOF/leg control architecture. The model is verified in numerical model and presented using separated 3D simulators.
format	Article
author	Irawan, Addie Yin Tan, Yee
author_facet	Irawan, Addie Yin Tan, Yee
author_sort	Irawan, Addie
title	Optimizing Hexapod Robot Reconfiguration using Hexa-Quad Transformation
title_short	Optimizing Hexapod Robot Reconfiguration using Hexa-Quad Transformation
title_full	Optimizing Hexapod Robot Reconfiguration using Hexa-Quad Transformation
title_fullStr	Optimizing Hexapod Robot Reconfiguration using Hexa-Quad Transformation
title_full_unstemmed	Optimizing Hexapod Robot Reconfiguration using Hexa-Quad Transformation
title_sort	optimizing hexapod robot reconfiguration using hexa-quad transformation
publisher	Institute of Advanced Engineering and Science
publishDate	2014
url	http://umpir.ump.edu.my/id/eprint/6570/ http://umpir.ump.edu.my/id/eprint/6570/ http://umpir.ump.edu.my/id/eprint/6570/ http://umpir.ump.edu.my/id/eprint/6570/1/Optimizing_Hexapod_Robot_Reconfiguration_using_Hexa-Quad_Transformation.pdf http://umpir.ump.edu.my/id/eprint/6570/3/Optimizing%20Hexapod%20Robot%20Reconfiguration%20.pdf
first_indexed	2023-09-18T22:02:27Z
last_indexed	2023-09-18T22:02:27Z
_version_	1777414489228967936

Optimizing Hexapod Robot Reconfiguration using Hexa-Quad Transformation

Similar Items