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Hexa-Quad Transformation Control for Hexapod Robot Based on Support Polygon Pattern

Addie Irawan, Hashim and Tan, Yee Yin and Mohd Syakirin, Ramli and Mohd Riduwan, Ghazali and Nonami, Kenzo (2013) Hexa-Quad Transformation Control for Hexapod Robot Based on Support Polygon Pattern. In: The 8th international Sysmposium on Artificial Life and Robotics (AROB 2013), 30 January - 1 February 2013 , Daejeon Convention Center (DCC), Daejeon, Korea. pp. 529-534..

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Abstract

This paper presents a leg reconfigurable technique to optimize the multi-legged robot operation and walking performances. A hexapod-to-quadruped (Hexa-Quad) transformation technique is proposed to optimize hexapod legs on certain situation that need some legs to be disabled as a leg to do other tasks/operations. By separating two legs from the others, hexapod robot is able to be configured as quadruped robot configuration. Quadruped robot configuration is stand within dynamically and statically stable criteria if compare to the hexapod robot that has only statically stable criteria. Thus, it is very crucial to have a stable transformation technique during walking and operation session. Therefore Hexa-Quad is proposed with reference to the defined support polygon that based on its body area. A real-time based model of hexapod robot (4-DOF/leg) control architecture with Hexa-Quad transformation is designed and verified using separated 3D simulators.

Item Type: Conference or Workshop Item (Lecture)
Uncontrolled Keywords: Hexa-Quad Transformation; Center of mass; Support polygon
Subjects: T Technology > TK Electrical engineering. Electronics Nuclear engineering
Faculty/Division: Faculty of Electrical & Electronic Engineering
Depositing User: mira
Date Deposited: 18 Apr 2014 07:29
Last Modified: 07 Sep 2020 08:57
URI: http://umpir.ump.edu.my/id/eprint/5578
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