Stability and gait planning of 3-UPU hexapod walking robot

Ruiqin Li; Hongwei Meng; Shaoping Bai; Yinyin Yao; Jianwei Zhang

doi:10.3390/robotics7030048

Stability and gait planning of 3-UPU hexapod walking robot

Ruiqin Li^*, Hongwei Meng, Shaoping Bai, Yinyin Yao, Jianwei Zhang

^*Corresponding author for this work

Research output: Contribution to journal › Journal article › Research › peer-review

10 Citations (Scopus)

206 Downloads (Pure)

Abstract

The paper presents an innovative hexapod walking robot built with 3-UPU parallel mechanism. In the robot, the parallel mechanism is used as both an actuator to generate walking and also a connecting body to connect two groups of three legs, thus enabling the robot to walk with simple gait by very few motors. In this paper, forward and inverse kinematics solutions are obtained. The workspace of the parallel mechanism is analyzed using limit boundary search method. The walking stability of the robot is analyzed, which yields the robot's maximum step length. The gait planning of the hexapod walking robot is studied for walking on both flat and uneven terrains. The new robot, combining the advantages of parallel robot and walking robot, has a large carrying capacity, strong passing ability, flexible turning ability, and simple gait control for its deployment for uneven terrains.

Original language	English
Article number	48
Journal	Robotics
Volume	7
Issue number	3
ISSN	2218-6581
DOIs	https://doi.org/10.3390/robotics7030048
Publication status	Published - 31 Aug 2018

Keywords

3-UPU parallel mechanism
Gait planning
Hexapod walking robot
Kinematics
Stability

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robotics-07-00048-v2Final published version, 3.97 MBLicence: CC BY 4.0

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title = "Stability and gait planning of 3-UPU hexapod walking robot",

abstract = "The paper presents an innovative hexapod walking robot built with 3-UPU parallel mechanism. In the robot, the parallel mechanism is used as both an actuator to generate walking and also a connecting body to connect two groups of three legs, thus enabling the robot to walk with simple gait by very few motors. In this paper, forward and inverse kinematics solutions are obtained. The workspace of the parallel mechanism is analyzed using limit boundary search method. The walking stability of the robot is analyzed, which yields the robot's maximum step length. The gait planning of the hexapod walking robot is studied for walking on both flat and uneven terrains. The new robot, combining the advantages of parallel robot and walking robot, has a large carrying capacity, strong passing ability, flexible turning ability, and simple gait control for its deployment for uneven terrains.",

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author = "Ruiqin Li and Hongwei Meng and Shaoping Bai and Yinyin Yao and Jianwei Zhang",

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T1 - Stability and gait planning of 3-UPU hexapod walking robot

AU - Li, Ruiqin

AU - Meng, Hongwei

AU - Bai, Shaoping

AU - Yao, Yinyin

AU - Zhang, Jianwei

PY - 2018/8/31

Y1 - 2018/8/31

N2 - The paper presents an innovative hexapod walking robot built with 3-UPU parallel mechanism. In the robot, the parallel mechanism is used as both an actuator to generate walking and also a connecting body to connect two groups of three legs, thus enabling the robot to walk with simple gait by very few motors. In this paper, forward and inverse kinematics solutions are obtained. The workspace of the parallel mechanism is analyzed using limit boundary search method. The walking stability of the robot is analyzed, which yields the robot's maximum step length. The gait planning of the hexapod walking robot is studied for walking on both flat and uneven terrains. The new robot, combining the advantages of parallel robot and walking robot, has a large carrying capacity, strong passing ability, flexible turning ability, and simple gait control for its deployment for uneven terrains.

AB - The paper presents an innovative hexapod walking robot built with 3-UPU parallel mechanism. In the robot, the parallel mechanism is used as both an actuator to generate walking and also a connecting body to connect two groups of three legs, thus enabling the robot to walk with simple gait by very few motors. In this paper, forward and inverse kinematics solutions are obtained. The workspace of the parallel mechanism is analyzed using limit boundary search method. The walking stability of the robot is analyzed, which yields the robot's maximum step length. The gait planning of the hexapod walking robot is studied for walking on both flat and uneven terrains. The new robot, combining the advantages of parallel robot and walking robot, has a large carrying capacity, strong passing ability, flexible turning ability, and simple gait control for its deployment for uneven terrains.

KW - 3-UPU parallel mechanism

KW - Gait planning

KW - Hexapod walking robot

KW - Kinematics

KW - Stability

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DO - 10.3390/robotics7030048

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Stability and gait planning of 3-UPU hexapod walking robot

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