By Topic

Impact of passive stiffness variation on stability and mobility of a hexapod robot

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$33 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

4 Author(s)
Richard J. Lock ; Department of Mechanical Engineering at the University of Bristol, BS8 1TR, UK ; Ravi Vaidyanathan ; Stuart C. Burgess ; Roger D. Quinn

This paper presents a biologically inspired approach to simulation design for a walking hexapod robot with focus on the parameter selection of critical values (e.g. joint stiffness) for robot performance. The fundamental aim is to mimic key aspects within a dynamic simulation environment to develop a clearer picture of the tradeoffs that biological systems naturally regulate. Although the importance of compliance in locomotion and disturbance rejection is well established in robotics, the actual design selection of system parameters involving tradeoffs between active movement, passive disturbance rejection, and energy minimization remain a challenging design task for mobile robots. We present initial work aimed at resolving this issue for the design optimization of a 20:1 scale Blaberus discoidalis cockroach robot through a simulation environment where complex interactions between passive stabilization and active walking may be examined in detail with respect to energy consumption and robotic performance.

Published in:

2009 IEEE/ASME International Conference on Advanced Intelligent Mechatronics

Date of Conference:

14-17 July 2009