A novel navigation algorithm for hexagonal hexapod robot

Ahmed, Mohiuddin and Khan, Md. Raisuddin and Billah, Md. Masum and Farhana, Soheli (2010) A novel navigation algorithm for hexagonal hexapod robot. American Journal of Engineering and Applied Sciences, 3 (2). pp. 320-327. ISSN 1941-7020 E-ISSN 1941-7039

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Abstract

Problem statement: Wheeled robots are not very well suited for navigation over uneven terrains. Hexapod robots have some advantages over wheeled robots when negotiating and navigating on rugged terrain. Approach: Different gaits of hexapods can be developed for different kinds of locomotion and obstacle avoidance. Results: In this research a novel algorithm has been developed for hexapod robots navigation. Conclusion: Implementation of the developed algorithm on a hexapod prototype showed desirable performance in terms of stable navigation with simultaneous gait transition over different terrains.

Item Type:	Article (Journal)
Additional Information:	3627/10001
Uncontrolled Keywords:	Hexapod robot, rugged terrain, navigation and gait transition
Subjects:	T Technology > T Technology (General) T Technology > TL Motor vehicles. Aeronautics. Astronautics
Kulliyyahs/Centres/Divisions/Institutes (Can select more than one option. Press CONTROL button):	Kulliyyah of Engineering > Department of Mechatronics Engineering
Depositing User:	Dr. Md. Raisuddin Khan
Date Deposited:	19 Jan 2012 14:58
Last Modified:	23 Nov 2016 12:15
URI:	http://irep.iium.edu.my/id/eprint/10001

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