Advanced Motions for Hexapods

Wei Cheah; Hassan Hakim Khalili; Farshad Arvin; Peter Green; Simon Watson; Barry Lennox

doi:10.1177/1729881419841537

Advanced Motions for Hexapods

Wei Cheah, Hassan Hakim Khalili, Farshad Arvin, Peter Green, Simon Watson, Barry Lennox

Research output: Contribution to journal › Article › peer-review

Abstract

Advanced motions, which utilise footholds on walls, offers considerably more opportunities for hexapods in accessing confined environment. However, there has been no research on the practical application of such motions on a hexapod. These motions are kinematically viable for the standard hexapod design with three Degrees of Freedom per leg but the joint requirements have yet to be identified. This paper presents the motion analysis for two forms of advanced motion; wall walking and chimney walking, to study the joint requirement for executing such motions. The analysis has been verified through a series of experiments demonstrating that a hexapod with a standard design is capable of executing advanced motions.

Original language	English
Journal	International Journal of Advanced Robotic Systems
Early online date	9 Apr 2019
DOIs	https://doi.org/10.1177/1729881419841537
Publication status	Published - 9 Apr 2019

Keywords

Legged Locomotion
Mobile Robot
Advanced Motions
Robot Design

Access to Document

10.1177/1729881419841537Licence: CC BY

1 Finished

Robotics and Artificial Intelligence for Nuclear (RAIN)
Lennox, B. (PI), Arvin, F. (CoI), Brown, G. (CoI), Carrasco Gomez, J. (CoI), Da Via, C. (CoI), Furber, S. (CoI), Luján, M. (CoI), Watson, S. (CoI), Watts, S. (CoI) & Weightman, A. (CoI)
2/10/17 → 31/03/22
Project: Research

1 Paper
1 Article

Tuning and Sensitivity Analysis of a Hexapod State Estimator
Hakim Khalili, H., Cheah, W., Garcia Nathan, T., Carrasco, J., Watson, S. & Lennox, B., 2020, In: Robotics and Autonomous Systems.
Research output: Contribution to journal › Article › peer-review

Open Access
Grid-based Motion Planning using Advanced Motions for Hexapod Robots
Cheah, W., Hakim Khalili, H., Watson, S., Green, P. & Lennox, B., Oct 2018.
Research output: Contribution to conference › Paper › peer-review

Cite this

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title = "Advanced Motions for Hexapods",

abstract = "Advanced motions, which utilise footholds on walls, offers considerably more opportunities for hexapods in accessing confined environment. However, there has been no research on the practical application of such motions on a hexapod. These motions are kinematically viable for the standard hexapod design with three Degrees of Freedom per leg but the joint requirements have yet to be identified. This paper presents the motion analysis for two forms of advanced motion; wall walking and chimney walking, to study the joint requirement for executing such motions. The analysis has been verified through a series of experiments demonstrating that a hexapod with a standard design is capable of executing advanced motions.",

keywords = "Legged Locomotion, Mobile Robot, Advanced Motions, Robot Design",

author = "Wei Cheah and {Hakim Khalili}, Hassan and Farshad Arvin and Peter Green and Simon Watson and Barry Lennox",

year = "2019",

month = apr,

day = "9",

doi = "10.1177/1729881419841537",

language = "English",

journal = "International Journal of Advanced Robotic Systems",

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AU - Cheah, Wei

AU - Hakim Khalili, Hassan

AU - Arvin, Farshad

AU - Green, Peter

AU - Watson, Simon

AU - Lennox, Barry

PY - 2019/4/9

Y1 - 2019/4/9

N2 - Advanced motions, which utilise footholds on walls, offers considerably more opportunities for hexapods in accessing confined environment. However, there has been no research on the practical application of such motions on a hexapod. These motions are kinematically viable for the standard hexapod design with three Degrees of Freedom per leg but the joint requirements have yet to be identified. This paper presents the motion analysis for two forms of advanced motion; wall walking and chimney walking, to study the joint requirement for executing such motions. The analysis has been verified through a series of experiments demonstrating that a hexapod with a standard design is capable of executing advanced motions.

AB - Advanced motions, which utilise footholds on walls, offers considerably more opportunities for hexapods in accessing confined environment. However, there has been no research on the practical application of such motions on a hexapod. These motions are kinematically viable for the standard hexapod design with three Degrees of Freedom per leg but the joint requirements have yet to be identified. This paper presents the motion analysis for two forms of advanced motion; wall walking and chimney walking, to study the joint requirement for executing such motions. The analysis has been verified through a series of experiments demonstrating that a hexapod with a standard design is capable of executing advanced motions.

KW - Legged Locomotion

KW - Mobile Robot

KW - Advanced Motions

KW - Robot Design

U2 - 10.1177/1729881419841537

DO - 10.1177/1729881419841537

M3 - Article

SN - 1729-8806

JO - International Journal of Advanced Robotic Systems

JF - International Journal of Advanced Robotic Systems

ER -

Advanced Motions for Hexapods

Abstract

Keywords

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Projects

Robotics and Artificial Intelligence for Nuclear (RAIN)

Research output

Tuning and Sensitivity Analysis of a Hexapod State Estimator

Grid-based Motion Planning using Advanced Motions for Hexapod Robots

Cite this