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1

Analysis of Contact Forces Between the Ground and the Hexapod Robot Legs During Tripod Gait

Grzelczyk D., Awrejcewicz J.

Machine Dynamics Research

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2018

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Vol. 42, No. 2

17--26

EN

The aim of the study is kinematic and dynamic simulation of a hexapod robot walking with a classical tripod gait on a ﬂat surface. To drive robot legs, a novel central pattern generator is applied. Time series of the robot’s kinematic and dynamic parameters are reported to assess the applied control method. Ground reaction forces and overloads acting on the hexapod legs are estimated on the basis of the inverse dynamics concept. For better analysis and illustration of the studied hexapod, the simulation model of the robot, suitable for virtual experiment son the locomotion process, is developed in Mathematica software. The obtained results indicate some advantages of the applied central pattern generator.

2

Estimation of the contact forces between the hexapod legs and the ground during walking in the tripod gait

Grzelczyk D., Stańczyk B., Awrejcewicz J.

Vibrations in Physical Systems

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2016

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Vol. 27

107--114

EN

The paper is devoted to the dynamical modelling of the hexapod robot walking on a flat and hard ground. The main goal is to determine time series of reaction forces acting on individual legs of the robot during tripod gait often used both by the six-legged insects as well as mobile walking robots found in engineering applications. The movement of the considered robot is realized by the kinematic excitation of its legs using the so-called Central Pattern Generator (CPG) method. The paper demonstrates that there are different contact forces and overload acting on the robot, resulting from different models working as a CPG. The mentioned forces belong to the important issues that should be taken into account when the robot locomotion on the unknown terrain is planned.

3

Sposób ruchu 6-nośnego robota kroczącego - Krab

Filipek P., Śmiech M.

TTS Technika Transportu Szynowego

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2013

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R. 20, nr 10

1459--1469, CD

PL

W artykule przedstawiono projekt budowy 6-cio nożnego robota kroczącego - Krab. Każda z nóg robota jest teleskopowo wysuwana za pomocą silnika DC z przekładnią ślimakową, oraz wykonuje ruchy poprzeczne dzięki wbudowanemu serwomechanizmowi. W artykule zawarto opis sekwencji ruchów poszczególnych nóg kraba, sposobu jego poruszania się na wprost oraz skrętu w obie strony. Wykonany robot zostanie wykorzystany do inspekcji podwozia autobusów i TIR-ów.

EN

The article presents the project of building a 6- foot walking robot - Crab. Each of the robot leg is telescopically extendable by a DC motor with worm gear and transverse movements performed with the built servomechanism. The article includes a description of the sequence of movements of individual crab legs , the way it is moving straight ahead and turn in both directions. Constructed robot will be used to inspect the chassis buses and lorries.

4

Control and environment sensing system for a six-legged robot

Walas K., Belter D., Kasiński A.

Journal of Automation Mobile Robotics and Intelligent Systems

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2008

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Vol. 2, No. 3

26-32

EN

The architecture of the six legged robot is described in this paper. Robot kinematics for single leg and for the multi-legged platform is presented. For the control of the robot equipped with a number of sensors a three-layer control system has been designed. It consists of a host computer (in the first, teleoperation layer), of a single master microprocessor on the robot board (second layer) and of six microprocessors each of them for one leg (third layer). The communication between the first and the second layer is performed in duplex mode through the RS232 link via the Bluetooth channel, and between the second and the third control layer through the SPI bus. The robot sensing system consists of rotary potentiometers in each joint, of the leg as well as of a dual-axis accelerometer and gyroscope for platform orientation control. On board camera for remote vision is available.