Optimizing Hexapod Robot Reconfiguration using Hexa-Quad Transformation
This paper presents a leg reconfigurable technique to optimize the hexapod robot reconfiguration flexiblity. 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 and operati...
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| Language: | en en |
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Institute of Advanced Engineering and Science
2014
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| Online Access: | http://umpir.ump.edu.my/id/eprint/6570/1/Optimizing_Hexapod_Robot_Reconfiguration_using_Hexa-Quad_Transformation.pdf http://umpir.ump.edu.my/id/eprint/6570/3/Optimizing%20Hexapod%20Robot%20Reconfiguration%20.pdf http://umpir.ump.edu.my/id/eprint/6570/ http://dx.doi.org/10.11591/ijra.v3i2.5936 |
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| _version_ | 1831521991227604992 |
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| author | Addie Irawan, Hashim Yin Tan, Yee |
| author_facet | Addie Irawan, Hashim Yin Tan, Yee |
| author_sort | Addie Irawan, Hashim |
| building | UMPSA Library |
| collection | Institutional Repository |
| content_provider | Universiti Malaysia Pahang Al-Sultan Abdullah |
| content_source | UMPSA Institutional Repository |
| continent | Asia |
| country | Malaysia |
| description | This paper presents a leg reconfigurable technique to optimize the hexapod robot reconfiguration flexiblity. 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 and operations. This proposed method used the factor of center of body (CoB) stability in the support polygon and its body shape. The reinitialized leg’s shoulder method is proposed to ensure the support polygon is balanced and confirmed the CoM nearly or at the center. This method is modeled and simulated in a real-time based model of hexapod robot with 4-DOF/leg control architecture. The model is verified in numerical model and presented using separated 3D simulators. |
| format | Article |
| id | my.ump.umpir.6570 |
| institution | Universiti Malaysia Pahang |
| language | en en |
| publishDate | 2014 |
| publisher | Institute of Advanced Engineering and Science |
| record_format | eprints |
| spelling | my.ump.umpir.65702020-09-07T08:55:24Z http://umpir.ump.edu.my/id/eprint/6570/ Optimizing Hexapod Robot Reconfiguration using Hexa-Quad Transformation Addie Irawan, Hashim Yin Tan, Yee TK Electrical engineering. Electronics Nuclear engineering This paper presents a leg reconfigurable technique to optimize the hexapod robot reconfiguration flexiblity. 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 and operations. This proposed method used the factor of center of body (CoB) stability in the support polygon and its body shape. The reinitialized leg’s shoulder method is proposed to ensure the support polygon is balanced and confirmed the CoM nearly or at the center. This method is modeled and simulated in a real-time based model of hexapod robot with 4-DOF/leg control architecture. The model is verified in numerical model and presented using separated 3D simulators. Institute of Advanced Engineering and Science 2014 Article PeerReviewed application/pdf en http://umpir.ump.edu.my/id/eprint/6570/1/Optimizing_Hexapod_Robot_Reconfiguration_using_Hexa-Quad_Transformation.pdf application/pdf en http://umpir.ump.edu.my/id/eprint/6570/3/Optimizing%20Hexapod%20Robot%20Reconfiguration%20.pdf Addie Irawan, Hashim and Yin Tan, Yee (2014) Optimizing Hexapod Robot Reconfiguration using Hexa-Quad Transformation. International Journal of Robotics and Automation (IJRA), 3 (2). pp. 139-150. ISSN 2089-4856. (Published) http://dx.doi.org/10.11591/ijra.v3i2.5936 DOI: 10.11591/ijra.v3i2.5936 |
| spellingShingle | TK Electrical engineering. Electronics Nuclear engineering Addie Irawan, Hashim Yin Tan, Yee Optimizing Hexapod Robot Reconfiguration using Hexa-Quad Transformation |
| title | Optimizing Hexapod Robot Reconfiguration using Hexa-Quad Transformation |
| title_full | Optimizing Hexapod Robot Reconfiguration using Hexa-Quad Transformation |
| title_fullStr | Optimizing Hexapod Robot Reconfiguration using Hexa-Quad Transformation |
| title_full_unstemmed | Optimizing Hexapod Robot Reconfiguration using Hexa-Quad Transformation |
| title_short | Optimizing Hexapod Robot Reconfiguration using Hexa-Quad Transformation |
| title_sort | optimizing hexapod robot reconfiguration using hexa-quad transformation |
| topic | TK Electrical engineering. Electronics Nuclear engineering |
| url | http://umpir.ump.edu.my/id/eprint/6570/1/Optimizing_Hexapod_Robot_Reconfiguration_using_Hexa-Quad_Transformation.pdf http://umpir.ump.edu.my/id/eprint/6570/3/Optimizing%20Hexapod%20Robot%20Reconfiguration%20.pdf http://umpir.ump.edu.my/id/eprint/6570/ http://dx.doi.org/10.11591/ijra.v3i2.5936 |
| url_provider | http://umpir.ump.edu.my/ |