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Hydraulically Actuated Hexapod Robots

Part of the Intelligent Systems, Control and Automation: Science and Engineering Book Series (volume 66)

DOI: 10.1007/978-4-431-54349-7

ISBN: 978-4-431-54348-0

Publisher: Springer Japan - Springer Journals

Sep 20, 2013

1 - 10 of 10 Chapters

Available

Introduction

Nonami, Kenzo; Barai, Ranjit Kumar; Irawan, Addie; Daud, Mohd Razali

Pages: 1 –18

[Legs have evolved as a means of propulsion of the body of animals and insects through millions of years of evolution that enabled them for terrain adaptive locomotion on any part of the earth’s land surface. Inspired from the observed advantages in locomotion of legged creatures in the...
Available

Historical and Modern Perspective of Walking Robots

Nonami, Kenzo; Barai, Ranjit Kumar; Irawan, Addie; Daud, Mohd Razali

Pages: 19 –40

[Study of historical evolution and modern point of view on a complex subject like robotics invokes motivations and professionalisms among the researchers. Research on walking machines started at the time of Leonardo da Vinci and that ultimately culminated into the development of the modern...
Available

Design and Optimization of Hydraulically Actuated Hexapod Robot COMET-IV

Nonami, Kenzo; Barai, Ranjit Kumar; Irawan, Addie; Daud, Mohd Razali

Pages: 41 –84

[The development of COMET-III resulted in a completely self-contained drive system that closely approximated a practical robot. However, various problems emerged in the course of research and development. In general, there was significant scope for improvement in terms of adaptability to terrain...
Available

Kinematics, Navigation, and Path Planning of Hexapod Robot

Nonami, Kenzo; Barai, Ranjit Kumar; Irawan, Addie; Daud, Mohd Razali

Pages: 85 –104

[In Chap. 3, fundamental analysis on COMET-IV’s leg kinematics and dynamics has been briefly discussed. On further research progress on this robot, the developed kinematics and dynamics are exploited to be used for end-effector force on foot detection and overall COMET-IV stability for...
Available

Position-Based Robust Locomotion Control of Hexapod Robot

Nonami, Kenzo; Barai, Ranjit Kumar; Irawan, Addie; Daud, Mohd Razali

Pages: 105 –139

[Position-based locomotion control is a very popular technique in walking robot research. However, the actuation system of the robot may pose various challenges for smooth and stable locomotion of the walking robot. This chapter presents few nonlinear robust control techniques for the...
Available

Force-Based Locomotion Control of Hexapod Robot

Nonami, Kenzo; Barai, Ranjit Kumar; Irawan, Addie; Daud, Mohd Razali

Pages: 141 –167

[As a part of motion control categories as discussed in Chap. 1, force and impedance control play a main role in legged/walking robot walking on unstructured or uneven terrain. With active suspension configuration (legs), the strong role of legged/walking robot design is capable of passing...
Available

Impedance Control and Its Adaptive for Hexapod Robot

Nonami, Kenzo; Barai, Ranjit Kumar; Irawan, Addie; Daud, Mohd Razali

Pages: 169 –197

[Impedance control should be generally applied for most robot when contacts some environment to achieve “softness of contact” between the end-effector of robot and the environment. This chapter proposes several algorithms such as impedance control implementation for hexapod robot COMET-IV. Also,...
Available

Teleoperated Locomotion Control of Hexapod Robot

Nonami, Kenzo; Barai, Ranjit Kumar; Irawan, Addie; Daud, Mohd Razali

Pages: 199 –235

[Recently the development of the robotics technology is remarkable. Currently most of the large-scale robot designed is focused on various tasks especially for the hazardous operation and disaster situation such as earthquake. Therefore, this chapter has taken a part and designed a hydraulically...
Available

Fully Autonomous Locomotion Control of Hexapod Robot with LRF

Nonami, Kenzo; Barai, Ranjit Kumar; Irawan, Addie; Daud, Mohd Razali

Pages: 237 –261

[This chapter proposes several methods for crossing over an obstacle and descending and ascending a cliff based on LRF 3D point clouds data. The experimental results show that the proposed methods are useful for performing assigned tasks. The reliability and the accuracy of the LRF are basically...
Available

Challenges and New Frontiers of Hydraulically Actuated Hexapod Robots

Nonami, Kenzo; Barai, Ranjit Kumar; Irawan, Addie; Daud, Mohd Razali

Pages: 263 –269

[Hydraulically actuated hexapod robots form a very useful class of walking robots in the context of service robotics, field robotics, search and rescue, and high-risk operations. It can also be utilized as a test bed for designing and validating various gaits and walking behaviors. A lot of...

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