Utilize este identificador para referenciar este registo:
https://hdl.handle.net/1822/87913
Registo completo
Campo DC | Valor | Idioma |
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dc.contributor.author | Coelho, Joana Sofia Falcato Pereira Lima | por |
dc.contributor.author | Dias, Bruno | por |
dc.contributor.author | Lopes, Gil | por |
dc.contributor.author | Ribeiro, A. Fernando | por |
dc.contributor.author | Flores, Paulo | por |
dc.date.accessioned | 2024-01-04T10:27:11Z | - |
dc.date.available | 2024-01-04T10:27:11Z | - |
dc.date.issued | 2023-12 | - |
dc.identifier.citation | Coelho J, Dias B, Lopes G, Ribeiro F, Flores P. Development and implementation of a new approach for posture control of a hexapod robot to walk in irregular terrains. Robotica. Published online 2023:1-25. doi:10.1017/S0263574723001765 | por |
dc.identifier.issn | 0263-5747 | - |
dc.identifier.uri | https://hdl.handle.net/1822/87913 | - |
dc.description.abstract | The adaptability of hexapods for various locomotion tasks, especially in rescue and exploration missions, drives their application. Unlike controlled environments, these robots need to navigate ever-changing terrains, where ground irregularities impact foothold positions and origin shifts in contact forces. This dynamic interaction leads to varying hexapod postures, affecting overall system stability. This study introduces a posture control approach that adjusts the hexapod's main body orientation and height based on terrain topology. The strategy estimates ground slope using limb positions, thereby calculating novel limb trajectories to modify the hexapod's angular position. Adjusting the hexapod's height, based on the calculated slope, further enhances main body stability. The proposed methodology is implemented and evaluated on the ATHENA hexapod (All-Terrain Hexapod for Environment Adaptability). Control feasibility is assessed through dynamic analysis of the hexapod's multibody model on irregular surfaces, using computational simulations in Gazebo software. Environmental complexity's impact on hexapod stability is tested on both a ramp and uneven terrain. Independent analyses for each scenario evaluate the controller's effect on roll and pitch angular velocities, as well as height variations. Results demonstrate the strategy's suitability for both environments, significantly enhancing posture stability. | por |
dc.description.sponsorship | The first author received funding through a doctoral scholarship from the Portuguese Foundation for Science and Technology (FCT) (Grant No. SFRH/BD/145818/2019), with funds from the Portuguese Ministry of Science, Technology and Higher Education and the European Social Fund through the Programa Operacional Regional Norte. This work has been supported by the Portuguese Foundation for Science and Technology, under the national support to RD units grant, with the reference project UIDB/04436/2020 and UIDP/04436/2020. | por |
dc.language.iso | eng | por |
dc.publisher | Cambridge University Press | por |
dc.relation | info:eu-repo/grantAgreement/FCT/POR_NORTE/SFRH%2FBD%2F145818%2F2019/PT | por |
dc.relation | info:eu-repo/grantAgreement/FCT/6817 - DCRRNI ID/UIDB%2F04436%2F2020/PT | por |
dc.relation | info:eu-repo/grantAgreement/FCT/6817 - DCRRNI ID/UIDP%2F04436%2F2020/PT | por |
dc.rights | openAccess | por |
dc.rights.uri | http://creativecommons.org/licenses/by/4.0/ | por |
dc.subject | Hexapod | por |
dc.subject | Legged robots | por |
dc.subject | Posture control | por |
dc.subject | Unstructured environments | por |
dc.subject | Keywords: | por |
dc.title | Development and implementation of a new approach for posture control of a hexapod robot to walk in irregular terrains | por |
dc.type | article | por |
dc.peerreviewed | yes | por |
dc.relation.publisherversion | https://www.cambridge.org/core/journals/robotica/article/abs/development-and-implementation-of-a-new-approach-for-posture-control-of-a-hexapod-robot-to-walk-in-irregular-terrains/1B398F52F5E31EF8067E0E7D22BBF2B2 | por |
oaire.citationStartPage | 1 | por |
oaire.citationEndPage | 25 | por |
dc.identifier.eissn | 1469-8668 | - |
dc.identifier.doi | 10.1017/S0263574723001765 | por |
dc.subject.fos | Engenharia e Tecnologia::Engenharia Mecânica | por |
sdum.journal | Robotica | por |
oaire.version | AM | por |
Aparece nas coleções: | CMEMS - Artigos em revistas internacionais/Papers in international journals |
Ficheiros deste registo:
Ficheiro | Descrição | Tamanho | Formato | |
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Development and implementation of a new approach for posture control based on the ground estimation for a hexapod robot.pdf | 1,74 MB | Adobe PDF | Ver/Abrir |
Este trabalho está licenciado sob uma Licença Creative Commons