Email this article 
Hide
Show all
Performance Analysis of Inverse Kinematics-Based Balance Control for Hexapod Stair Navigation
Abstract
Maintaining body stability is a key challenge for hexapod robots in stair navigation. This study proposes an inverse kinematics (IK)-based approach for dynamic balance control using real-time joint angle computation. Experimental results show that the method maintains body orientation near a neutral position, achieving a minimum pitch angle of 7.3°, thereby improving stability and reducing mechanical collision risk. System performance is also influenced by actuator speed and battery voltage.
Keywords
Full Text:
PDFReferences
Coelho, J., Ribeiro, F., Dias, B., Lopes, G., & Flores, P. (2021). Trends in the Control of Hexapod Robots: A Survey. Robotics, 10(3), 100. https://doi.org/10.3390/robotics10030100
Coelho, J., Sa, R., Ribeiro, T., Ribeiro, F., Dias, B., Lopes, G., & Flores, P. (2021). Study of the locomotion of a hexapod using CoppeliaSim and ROS. 2021 International Conference on Computers and Automation (CompAuto), (pp. 109–116). https://doi.org/10.1109/CompAuto54408.2021.00027
Deng, H., Xin, G., Zhong, G., & Mistry, M. (2017). Gait and trajectory rolling planning and control of hexapod robots for disaster rescue applications. Robotics and Autonomous Systems, 95, 13–24. https://doi.org/10.1016/j.robot.2017.05.007
Fielding, M. R., & Dunlop, G. R. (2004). Omnidirectional Hexapod Walking and Efficient Gaits Using Restrictedness. The International Journal of Robotics Research, 23(10–11), 1105–1110. https://doi.org/10.1177/0278364904047396
Garcia, E., & de Santos, P. G. (2005). An improved energy stability margin for walking machines subject to dynamic effects. Robotica, 23(1), 13–20. https://doi.org/10.1017/S0263574704000487
Konopatzki, E. A., Christ, D., Coelho, S. R. M., Demito, A., Werncke, I., & Camicia, R. G. da M. (2022). COFFEE DRYER WITH DEHYDRATED AIR: A TECHNICAL AND ECONOMIC VIABILITY ANALYSIS. Engenharia Agrícola, 42(4). https://doi.org/10.1590/1809-4430-eng.agric.v42n4e20210003/2022
Liu, Y., Wang, C., Zhang, H., & Zhao, J. (2020). Research on the Posture Control Method of Hexapod Robot for Rugged Terrain. Applied Sciences, 10(19), 6725. https://doi.org/10.3390/app10196725
Moore, E. Z., Campbell, D., Grimminger, F., & Buehler, M. (n.d.). Reliable stair climbing in the simple hexapod “RHex.” Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292), 3, 2222–2227. https://doi.org/10.1109/ROBOT.2002.1013562
Ramdya, P., Thandiackal, R., Cherney, R., Asselborn, T., Benton, R., Ijspeert, A. J., & Floreano, D. (2017). Climbing favours the tripod gait over alternative faster insect gaits. Nature Communications, 8(1), 14494. https://doi.org/10.1038/ncomms14494
Saranli, U., Buehler, M., & Koditschek, D. E. (2001). RHex: A Simple and Highly Mobile Hexapod Robot. The International Journal of Robotics Research, 20(7), 616–631. https://doi.org/10.1177/02783640122067570
Sun, Q., Gao, F., & Chen, X. (2018). Towards dynamic alternating tripod trotting of a pony-sized hexapod robot for disaster rescuing based on multi-modal impedance control. Robotica, 36(7), 1048–1076. https://doi.org/10.1017/S026357471800022X
Wang, B., Zhang, K., Yang, X., & Cui, X. (2020). The gait planning of hexapod robot based on CPG with feedback. International Journal of Advanced Robotic Systems, 17(3). https://doi.org/10.1177/1729881420930503
Xia, H., Zhang, X., & Zhang, H. (2021). A New Foot Trajectory Planning Method for Legged Robots and Its Application in Hexapod Robots. Applied Sciences, 11(19), 9217. https://doi.org/10.3390/app11199217
Xu, P., Ding, L., Li, Z., Yang, H., Wang, Z., Gao, H., Zhou, R., Su, Y., Deng, Z., & Huang, Y. (2023). Learning physical characteristics like animals for legged robots. National Science Review, 10(5). https://doi.org/10.1093/nsr/nwad045
Zhang, H., Wu, R., Li, C., Zang, X., Zhang, X., Jin, H., & Zhao, J. (2017). A Force-Sensing System on Legs for Biomimetic Hexapod Robots Interacting with Unstructured Terrain. Sensors, 17(7), 1514. https://doi.org/10.3390/s17071514
Zhang, L., Zha, F., Guo, W., Chen, C., Sun, L., & Wang, P. (2024). Heavy-duty hexapod robot sideline tipping judgment and recovery. Robotica, 42(5), 1403–1419. https://doi.org/10.1017/S0263574724000274
Zhang, Y., Qiao, G., Wan, Q., Tian, L., & Liu, D. (2023). A Novel Double-Layered Central Pattern Generator-Based Motion Controller for the Hexapod Robot. Mathematics, 11(3), 617. https://doi.org/10.3390/math11030617
Zhao, Y., Gao, F., Tian, Y., & Mao, L. (2020, August 24). Adaptive gait parameters adjustment strategy for a hexapod robot walking on stairs based on 3D terrain perception. Robots in Human Life. https://doi.org/10.13180/clawar.2020.24-26.08.09
Zhu, Y., Guo, T., Liu, Q., Zhu, Q., Jin, B., & Zhao, X. (2017). Turning and Radius Deviation Correction for a Hexapod Walking Robot Based on an Ant-Inspired Sensory Strategy. Sensors, 17(12), 2710. https://doi.org/10.3390/s17122710
DOI: https://doi.org/10.26760/elkomika.v14i2.261
Refbacks
- There are currently no refbacks.
_______________________________________________________________________________________________________________________
ISSN (print) : 2338-8323 | ISSN (electronic) : 2459-9638
Publisher:
Department of Electrical Engineering Institut Teknologi Nasional Bandung, Indonesia
Address: 20th Building Institut Teknologi Nasional Bandung PHH. Mustofa Street No. 23 Bandung 40124, Indonesia
Contact: +627272215 (ext. 206)
Email: jte.itenas@itenas.ac.id
________________________________________________________________________________________________________________________
Jurnal ini terlisensi oleh Creative Commons Attribution-ShareAlike 4.0 International License.
