Hexagonal structure hexapod robot: developing a method for omni-directional navigation

Billah, Md. Masum and Ahmed, Mohiuddin and Khan, Md. Raisuddin and Farhana, Soheli (2009) Hexagonal structure hexapod robot: developing a method for omni-directional navigation. In: Proceedings of International Conference on Asian Simulation and Modeling (ASIMMOD '09), 22 - 23 January 2009, Bangkok, Thailand.

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Abstract

In this paper, we propose a method that allows a hexapod robot to navigate omni-directionally with hexagonal structure. Typical body structures for hexapod robot are analyzed. Hexapod robot frequently navigates various directions over variety of surfaces. To enable locomotion in rough surface, hexapod must be able to stably move in any direction. A comparative study, based on different model of hexapod for omni-directional navigation, concludes that the hexagonal hexapod robot can be able to navigate omni-directionally on the complex surface. Finally, a method is developed for omni-directional navigation of the hexapod robot.

Item Type:	Conference or Workshop Item (Plenary Papers)
Additional Information:	3627/7185
Uncontrolled Keywords:	Optimal gait generation; walking machine; Hexapod
Subjects:	T Technology > T Technology (General)
Kulliyyahs/Centres/Divisions/Institutes (Can select more than one option. Press CONTROL button):	Kulliyyah of Engineering
Depositing User:	Dr. Md. Raisuddin Khan
Date Deposited:	27 Apr 2012 08:30
Last Modified:	15 Jun 2017 10:54
URI:	http://irep.iium.edu.my/id/eprint/7185

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