Publication detail

Design and Control of 7-DOF Omni-directional Hexapod Robot

ŽÁK, M. ROZMAN, J. ZBOŘIL, F.

Original Title

Design and Control of 7-DOF Omni-directional Hexapod Robot

Type

journal article in Web of Science

Language

English

Original Abstract

Legged robots have great potential to travel across various types of terrain. Their many degrees of freedom enable them to navigate through difficult terrains, narrow spaces or various obstacles and they can move even after losing a leg. However, legged robots mostly move quite slowly. This paper deals with the design and construction of an omni-directional seven degrees of freedom hexapod (i.e., six-legged) robot, which is equipped with omni-directional wheels (two degrees of freedom are used, one for turning the wheel and one for the wheel itself) usable on flat terrain to increase travel speed and an additional coxa joint that makes the robot more robust when climbing inclined terrains. This unique combination of omni-directional wheels and additional coxa joint makes the robot not only much faster but also more robust in rough terrains and allows the robot to ride inclined terrains up to 40 degrees and remain statically stable in slopes up to 50 degrees. The robot is controlled by a terrain adaptive movement controller which adjusts the movement speed and the gait of the robot according to terrain conditions.

Keywords

Hexapod Robot, Hexapod Control, Terrain Adaptation, Hexapod Movement Controller, 7-DOF Hexapod

Authors

ŽÁK, M.; ROZMAN, J.; ZBOŘIL, F.

Released

10. 1. 2021

ISBN

2299-1093

Periodical

Open Computer Science

Year of study

11

Number

1

State

Federal Republic of Germany

Pages from

80

Pages to

89

Pages count

10

URL

https://www.fit.vut.cz/research/publication/12187/

BibTex

@article{BUT168155,
  author="Marek {Žák} and Jaroslav {Rozman} and František {Zbořil}",
  title="Design and Control of 7-DOF Omni-directional Hexapod Robot",
  journal="Open Computer Science",
  year="2021",
  volume="11",
  number="1",
  pages="80--89",
  doi="10.1515/comp-2020-0189",
  issn="2299-1093",
  url="https://www.fit.vut.cz/research/publication/12187/"
}

Documents

hexapod robot.pdf