Kinematic Analysis and Application to Control Logic Development for RHex Robot Locomotion

This study explores the kinematic model of the popular RHex hexapod robots which have garnered considerable interest for their locomotion capabilities. We study the influence of tripod trajectory parameters on the RHex robot's movement, aiming to craft a precise kinematic model that enhances wa...

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Bibliographic Details
Published in:Sensors (Basel, Switzerland) Switzerland), 2024-03, Vol.24 (5), p.1636
Main Authors: Burzyński, Piotr, Pawłuszewicz, Ewa, Ambroziak, Leszek, Sharma, Suryansh
Format: Article
Language:English
Subjects:
Adaptability
Artificial intelligence
C-legged hexapod
Consumer electronics industry
Control algorithms
Control systems
Efficiency
Kinematics
kinematics modeling
Legs
Measurement techniques
mobile robot
Robotics
Robots
simulation
Unmanned aerial vehicles
walking robot
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Summary:This study explores the kinematic model of the popular RHex hexapod robots which have garnered considerable interest for their locomotion capabilities. We study the influence of tripod trajectory parameters on the RHex robot's movement, aiming to craft a precise kinematic model that enhances walking mechanisms. This model serves as a cornerstone for refining robot control strategies, enabling tailored performance enhancements or specific motion patterns. Validation conducted on a bespoke test bed confirms the model's efficacy in predicting spatial movements, albeit with minor deviations due to motor load variations and control system dynamics. In particular, the derived kinematic framework offers valuable insights for advancing control logic, particularly navigating in flat terrains, thereby broadening the RHex robot's application spectrum.
ISSN:1424-8220
1424-8220
DOI:10.3390/s24051636