Kinematics-Based Motion and Balance Control of a Six-Legged Spider Robot

Year 2024, Volume: 7 Issue: 2, 166 - 178, 30.11.2024

Enes Vardar , Kenan Işık , Hüseyin Metin Ertunç

https://doi.org/10.34088/kojose.1440839

Abstract

In this study, the kinematics of a hexapod spider robot with 18 joints, consisting of 3 joints per leg, were modeled. The aim was to provide a theoretical framework for algorithms enabling the robot to walk, change direction, and control its body coordinate system. A novel and parametric approach was taken by creating a model instead of a table listing joint positions for various scenarios typically used in spider robot motion trajectories. Initially, the kinematic model of the hexapod robot was established using the D-H method. Subsequently, algorithms derived from kinematic equations were tested in a simulation environment to enable walking, rotation, and movement within the body's coordinate system. The simulation visualized movement trajectories without relying on mathematical libraries or specific programming languages, ensuring flexibility across different environments. Results from simulations and experimental tests demonstrated realistic movement capabilities. The software, validated in the simulation environment, was successfully implemented on a physical spider robot, leading to effective operation.

Keywords

Hexapod, Kinematics, Spider Robot, Simulation

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