Eventos Anais de eventos
COBEM 2019
25th International Congress of Mechanical Engineering
NEW STUDY FOR HEXAPOD TRACK PLANNING ON ROUGH TERRAIN
Submission Author:
Vinícius Gomes Pereira Siston , RJ
Co-Authors:
Vinícius Gomes Pereira Siston, Raphael Rocha Pacheco, Jair Luiz Azevedo Filho, Luciano Santos Constantin Raptopoulos, Cristiano Carvalho, Guilherme Amaral do Prado Campos, Max Suell Dutra, Felipe M. G. França
Presenter: Vinícius Gomes Pereira Siston
doi://10.26678/ABCM.COBEM2019.COB2019-2158
Abstract
The execution of arbitrary trajectories in rough terrains by legged robots is a task that involves a complex system of positioning, control and synchronization. In this work, a new geometric approach to obtain the instant pose of each paw was developed. For this purpose, spherical surfaces are used as workspace boundaries of support paws, also as the route for the paws in balance. It was used the neurocomputational approach, named Scheduling by Multiple Edge Reversal (SMER), to derive the paws phase and generate the gait rhythmic patterns. The methodology applied to the robot movement consists of modeling the kinematics of a hexapod robot in order to follow curved, straight and combined trajectories in a tripod gait pattern. Finally, a new feasible motion model is presented as the main result in this work.
Keywords
Track planning, rough terrain, SMER, Hexapod
