Result Details

Design, Construction and Control of Hexapod Walking Robot

ŽÁK, M.; ROZMAN, J. Design, Construction and Control of Hexapod Walking Robot. In 2015 IEEE 13th International Scientific Conference on Informatics, INFORMATICS 2015 - Proceedings. Poprad: Faculty of Electrical Engineering and Informatics, University of Technology Košice, 2016. p. 302-307. ISBN: 978-1-4673-9867-1.
Type
conference paper
Language
English
Authors
Žák Marek, Ing., Ph.D., DITS (FIT)
Rozman Jaroslav, Ing., Ph.D., DITS (FIT)
Abstract

This paper deals with design, construction and control of a hexapod (i.e. six-legged ) walking robot. Basic characteristics of legged robots, a few existing robots and their pros and cons are described in the introduction of this paper. Next, basic gaits, which are used by legged robots for their locomotion are mentioned here. Main part of the paper is focused on the result of our project - on the six-legged robot, which can walk using tripod, wave and ripple gait and which is equipped with sonars, force-sensitive resistors and encoders. This our robot is controlled and monitored from an user interface program, which can display data from the sensors and the positions of robot legs. The robot can be used to test and verify algorithms, gaits and features of hexapod walking robots.

Keywords

hexapod, walking chassis, hexapod control

Published
2016
Pages
302–307
Proceedings
2015 IEEE 13th International Scientific Conference on Informatics, INFORMATICS 2015 - Proceedings
Conference
Informatics 2015 - 13th International Scientific Conference on Informatics
ISBN
978-1-4673-9867-1
Publisher
Faculty of Electrical Engineering and Informatics, University of Technology Košice
Place
Poprad
DOI
10.1109/Informatics.2015.7377851
UT WoS
000380535000054
EID Scopus
2-s2.0-84963677400
BibTeX 
@inproceedings{BUT119893,
  author="Marek {Žák} and Jaroslav {Rozman}",
  title="Design, Construction and Control of Hexapod Walking Robot",
  booktitle="2015 IEEE 13th International Scientific Conference on Informatics, INFORMATICS 2015 - Proceedings",
  year="2016",
  pages="302--307",
  publisher="Faculty of Electrical Engineering and Informatics, University of Technology Košice",
  address="Poprad",
  doi="10.1109/Informatics.2015.7377851",
  isbn="978-1-4673-9867-1",
  url="https://www.fit.vut.cz/research/publication/10950/"
}
Files
Projects
Centrum excelence IT4Innovations, MŠMT, Operační program Výzkum a vývoj pro inovace, ED1.1.00/02.0070, start: 2011-01-01, end: 2015-12-31, completed
Spolehlivost a bezpečnost v IT, BUT, Vnitřní projekty VUT, FIT-S-14-2486, start: 2014-01-01, end: 2016-12-31, completed
Research groups
Intelligent Systems Research Group (RG INTSYS)
Departments
Department of Intelligent Systems (DITS)
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