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Force threshold-based omni-directional movement for hexapod robot walking on uneven terrain

Addie Irawan, Hashim and Nonami, Kenzo (2012) Force threshold-based omni-directional movement for hexapod robot walking on uneven terrain. In: IEEE 4th International Conference on Computational Intelligence, Modelling and Simulation (CIMSim 2012), 25-27 September 2012 , Kuantan, Pahang Darul Makmur. pp. 127-132.. ISBN 978-1-4673-3113-5

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Abstract

This paper presents a control strategy for improving the performance of hexapod robot walking on uneven terrain using the combination of designed force threshold-based foot motion and center-of-body (CoB) based omni directional movement. According to the several studies on omni directional movement for legged robot, most of the proposed methods are targeting to avoid the unnecessary uneven ground surfaces and obstacles other than energy efficiencies. Therefore with the proposed method, the main target of study is to overcome the hexapod walking and stepping on the uneven terrain with multi-directional movements. This proposed combination method is done to guarantee the stability of the robot and increasing the flexibility of the robot during rotating and zigzaging on uneven terrain. The model platform for the study is based on hydraulically driven hexapod robot model system named COMET-IV and verified using real-time simulation with a 3D simulator.

Item Type: Conference or Workshop Item (Lecture)
Additional Information: Indexed by Scopus
Uncontrolled Keywords: Force Threshold-Based Foot Motion; Cob-Based Omnidirectional; Uneven Terrain
Subjects: T Technology > TK Electrical engineering. Electronics Nuclear engineering
Faculty/Division: Faculty of Electrical & Electronic Engineering
Depositing User: Mrs. Neng Sury Sulaiman
Date Deposited: 20 Mar 2020 02:33
Last Modified: 07 Sep 2020 08:30
URI: http://umpir.ump.edu.my/id/eprint/26948
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