American Journal of Engineering and Applied Sciences · 2010 · 25 citations · 7 references
EngineeringMechanical EngineeringRobotics EngineeringMobile RoboticsRobot KinematicsRoboticsAutonomous NavigationMobile Robot LocomotionNavigation PlanningObstacle AvoidanceRobot NavigationWheeled LocomotionGaitHexapod LocomotionLegged Robot NavigationRough Terrain NavigationTerrain TraversabilityTerrain-aware NavigationUneven Terrain TraversalWheeled Robot Locomotion
Problem statement: Wheeled robots are not very well suited for navigation over uneven terrains. Hexapod robots have some advantages over wheeled robots when negotiating and navigating on rugged terrain. Approach: Different gaits of hexapods can be developed for different kinds of locomotion and obstacle avoidance. Results: In this research a novel algorithm has been developed for hexapod robots navigation. Conclusion: Implementation of the developed algorithm on a hexapod prototype showed desirable performance in terms of stable navigation with simultaneous gait transition over different terrains.
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A six-legged robot-based system for humanitarian demining missions
P. González de Santos, J. A. Cobano, Elena García et al. · Mechatronics · 2007 · 106 citations
Engineering, Mechanical Engineering, Robotics Engineering +14