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Dynamic stability algorithm for a Hexapod Robot

Publication Type : Conference Proceedings

Publisher : Recent Developments in Control, Automation Power Engineering (RDCAPE)

Source : Recent Developments in Control, Automation Power Engineering (RDCAPE) (2017)

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Keywords : AHR platform, Amrita hexapod robot platform, closed loop control system, closed loop systems, Control system, Control systems, Dynamic Stability, dynamic stability algorithm, Feedback, feedback sensor, Heuristic algorithms, Hexapod, Inclined surface, Inertial measurement unit, Legged locomotion, Legged robots, Maneuverability, motor angles, Navigation, Path Planning, Robots, six-legged robot, Stability, Stability algorithm, wheeled robots, Wheels

Campus : Bengaluru

School : Department of Computer Science and Engineering, School of Engineering

Department : Computer Science

Verified : Yes

Year : 2017

Abstract : Navigation on different types of terrain has formed a barrier in usage of robots across various fields. Legged robots have more maneuverability compared to wheeled robots and can able to traverse on any kind of surface. Hexapod is a six-legged robot which is statically stable and can navigate on uneven surface. This work focuses on developing a stability algorithm using a closed loop control system with Inertial Measurement Unit as feedback sensor. Control system is used to calculate the motor angles in order to achieve stability over inclined surface. The proposed algorithm aims in selecting appropriate motors to control by moving it to the angle generated by the control system. The algorithm was implemented and tested on Amrita Hexapod Robot (AHR) platform.

Cite this Research Publication : B. Veekshan Sree Sesha Sai, B. Akshay Kumar, B. Mani Rajesh Reddy, and Nippun Kumaar A A, “Dynamic stability algorithm for a Hexapod Robot”, Recent Developments in Control, Automation Power Engineering (RDCAPE). 2017.

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