Utilize este identificador para referenciar este registo:
https://hdl.handle.net/1822/77635
Título: | Hexapod posture control for navigation across complex environments |
Autor(es): | Coelho, Joana Dias, Bruno Lopes, Gil Ribeiro, A. Fernando Flores, Paulo |
Data: | 2022 |
Editora: | Springer, Cham |
Revista: | Courses and Lectures |
Citação: | Coelho, J., Dias, B., Lopes, G., Ribeiro, F., Flores, P. (2022). Hexapod Posture Control for Navigation Across Complex Environments. In: Kecskeméthy, A., Parenti-Castelli, V. (eds) ROMANSY 24 - Robot Design, Dynamics and Control. ROMANSY 2022. CISM International Centre for Mechanical Sciences, vol 606. Springer, Cham. https://doi.org/10.1007/978-3-031-06409-8_20 |
Resumo(s): | Hexapod locomotion in unstructured environments relies on an efficient posture adjustment with the terrain topology. This paper presents a strategy to adapt the hexapod torso orientation through ground plane estimation. With an Inertial Measurement Unit (IMU) and the robot kinematic model, the current supporting feet coordinates are calculated, and the relative inclination between the ground and the torso angular position can be obtained. This information is used to adjust the novel foothold positions, in order to ensure the hexapod posture remains stable. The torso height is also controlled to avoid collisions with the ground asperities and decrease its deviation during motion. The proposed method is evaluated in a complex terrain made of 0.1×0.1 m blocks with variable height, causing different slopes across the field. Through result analysis, a significant behavior improvement is observed, due to the reduction of the torso posture oscillation and the increase of its locomotion efficiency. |
Tipo: | Capítulo de livro |
URI: | https://hdl.handle.net/1822/77635 |
ISBN: | 978-3-031-06408-1 |
e-ISBN: | 978-3-031-06409-8 |
DOI: | 10.1007/978-3-031-06409-8_20 |
ISSN: | 0254-1971 |
Arbitragem científica: | yes |
Acesso: | Acesso aberto |
Aparece nas coleções: | CMEMS - Artigos em livros de atas/Papers in proceedings |
Ficheiros deste registo:
Ficheiro | Descrição | Tamanho | Formato | |
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Hexapod_posture_control_for_navigation_across_complex_environments.pdf | 1,92 MB | Adobe PDF | Ver/Abrir |