Publication Details
Design and Control of 7-DOF Omni-directional Hexapod Robot
Hexapod Robot, Hexapod Control, Terrain Adaptation, Hexapod Movement Controller,
7-DOF Hexapod
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.
@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/"
}