KFU. Card publication. Dynamic modelling and control of an underactuated klann-based hexapod

KAZAN
FEDERAL UNIVERSITY

- RUS
- 中文
- ES

DYNAMIC MODELLING AND CONTROL OF AN UNDERACTUATED KLANN-BASED HEXAPOD

Form of presentation

Articles in international journals and collections

Year of publication

2019

Язык

английский

Authors, employees of KFU

Lavrenov Roman Olegovich, author

Bibliographic description in the original language

Martinez-Garcia E.A, Dominguez J, Lavrenov R., Dynamic modelling and control of an underactuated klann-based hexapod//Proceedings - International Conference on Developments in eSystems Engineering, DeSE. - 2019. - Vol.October-2019, Is.. - P.64-69.

Annotation

This work discloses the dynamic control model of a hexapod robot with tripod-based walking gait. The proposed walking model is based on the Klann linkage and three main actuators to provide quasi-omnidirectional mobility. The reduced number of actuators preserve holonomy as similar as popular 18-servo hyper-redundant hexapods (three servos per leg). This work proposes two-drive differential control, one drive per lateral triplet of legs. Each triplet is synchronized in speed with different angle phase of rotation. The six limbs are synchronized with bidirectional yaw motion with the third actuator. Quasiomnidirectional mobility was achieved and controlled by a dynamic control law that governs the robots mechanisms motion. Kinematic and dynamic results are validated through numerical simulations using a tripod gait.

Keywords

hexapod, multi-legged, Klann limb, dynamic control, underactuated mechanism, walker robot, tripod gait

The name of the journal

Proceedings - International Conference on Developments in eSystems Engineering, DeSE

URL

https://www.scopus.com/inward/record.uri?eid=2-s2.0-85084400367&doi=10.1109%2fDeSE.2019.00022&partnerID=40&md5=d3b19e2240629152965abd4ef8f057bf

Please use this ID to quote from or refer to the card

https://repository.kpfu.ru/eng/?p_id=232739&p_lang=2

Resource files

File name	Size (MB)	Format
F_Dynamic_modelling_and_control_of.pdf	0,65	pdf	show / download

Full metadata record

Field DC	Value	Language
dc.contributor.author	Lavrenov Roman Olegovich	ru_RU
dc.date.accessioned	2019-01-01T00:00:00Z	ru_RU
dc.date.available	2019-01-01T00:00:00Z	ru_RU
dc.date.issued	2019	ru_RU
dc.identifier.citation	Martinez-Garcia E.A, Dominguez J, Lavrenov R., Dynamic modelling and control of an underactuated klann-based hexapod//Proceedings - International Conference on Developments in eSystems Engineering, DeSE. - 2019. - Vol.October-2019, Is.. - P.64-69.	ru_RU
dc.identifier.uri	https://repository.kpfu.ru/eng/?p_id=232739&p_lang=2	ru_RU
dc.description.abstract	Proceedings - International Conference on Developments in eSystems Engineering, DeSE	ru_RU
dc.description.abstract	This work discloses the dynamic control model of a hexapod robot with tripod-based walking gait. The proposed walking model is based on the Klann linkage and three main actuators to provide quasi-omnidirectional mobility. The reduced number of actuators preserve holonomy as similar as popular 18-servo hyper-redundant hexapods (three servos per leg). This work proposes two-drive differential control, one drive per lateral triplet of legs. Each triplet is synchronized in speed with different angle phase of rotation. The six limbs are synchronized with bidirectional yaw motion with the third actuator. Quasiomnidirectional mobility was achieved and controlled by a dynamic control law that governs the robots mechanisms motion. Kinematic and dynamic results are validated through numerical simulations using a tripod gait.	ru_RU
dc.language.iso	ru	ru_RU
dc.subject	hexapod	ru_RU
dc.subject	multi-legged	ru_RU
dc.subject	Klann limb	ru_RU
dc.subject	dynamic control	ru_RU
dc.subject	underactuated mechanism	ru_RU
dc.subject	walker robot	ru_RU
dc.subject	tripod gait	ru_RU
dc.title	Dynamic modelling and control of an underactuated klann-based hexapod	ru_RU
dc.type	Articles in international journals and collections	ru_RU