Gait planning and control of hexapod robot based on velocity vector

Junfeng Xue; Jiehao Li; Zhihua Chen; Shoukun Wang; Junzheng Wang; Ruijun Ma

doi:10.1109/ICARM52023.2021.9536055

Gait planning and control of hexapod robot based on velocity vector

Junfeng Xue, Jiehao Li, Zhihua Chen^*, Shoukun Wang, Junzheng Wang, Ruijun Ma

^*Corresponding author for this work

School of Automation

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

8 Citations (Scopus)

Abstract

The gait planning and control are the main challenge for hexapod robots in unknown terrains, especially when the robot needs to turn. A gait planning and control method based on velocity vector is proposed in this paper for gait turning. Firstly, the overall kinematics model and typical gait sequence of the hexapod robot are introduced. Secondly, the relationship between velocity vector and rotation center is established, and the algorithm flow of diagonal gait and turn gait based on velocity vector is designed. Finally, the Co-simulation based on MATLAB and V-REP is carried out. The simulation results show that the robot body can keep turning with different radius in the process of diagonal gait, which verifies the effectiveness of the algorithm.

Original language	English
Title of host publication	2021 6th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2021
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	616-620
Number of pages	5
ISBN (Electronic)	9780738133645
DOIs	https://doi.org/10.1109/ICARM52023.2021.9536055
Publication status	Published - 3 Jul 2021
Event	6th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2021 - Chongqing, China Duration: 3 Jul 2021 → 5 Jul 2021

Publication series

Name	2021 6th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2021

Conference

Conference	6th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2021
Country/Territory	China
City	Chongqing
Period	3/07/21 → 5/07/21

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10.1109/ICARM52023.2021.9536055

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Xue, J., Li, J., Chen, Z., Wang, S., Wang, J., & Ma, R. (2021). Gait planning and control of hexapod robot based on velocity vector. In 2021 6th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2021 (pp. 616-620). (2021 6th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2021). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICARM52023.2021.9536055

Xue, Junfeng ; Li, Jiehao ; Chen, Zhihua et al. / Gait planning and control of hexapod robot based on velocity vector. 2021 6th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2021. Institute of Electrical and Electronics Engineers Inc., 2021. pp. 616-620 (2021 6th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2021).

@inproceedings{bc4e4d6ec29f42ff83dbac7599544e1a,

title = "Gait planning and control of hexapod robot based on velocity vector",

abstract = "The gait planning and control are the main challenge for hexapod robots in unknown terrains, especially when the robot needs to turn. A gait planning and control method based on velocity vector is proposed in this paper for gait turning. Firstly, the overall kinematics model and typical gait sequence of the hexapod robot are introduced. Secondly, the relationship between velocity vector and rotation center is established, and the algorithm flow of diagonal gait and turn gait based on velocity vector is designed. Finally, the Co-simulation based on MATLAB and V-REP is carried out. The simulation results show that the robot body can keep turning with different radius in the process of diagonal gait, which verifies the effectiveness of the algorithm.",

author = "Junfeng Xue and Jiehao Li and Zhihua Chen and Shoukun Wang and Junzheng Wang and Ruijun Ma",

note = "Publisher Copyright: {\textcopyright} 2021 IEEE.; 6th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2021 ; Conference date: 03-07-2021 Through 05-07-2021",

year = "2021",

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language = "English",

series = "2021 6th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2021",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

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Xue, J, Li, J, Chen, Z, Wang, S , Wang, J & Ma, R 2021, Gait planning and control of hexapod robot based on velocity vector. in 2021 6th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2021. 2021 6th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2021, Institute of Electrical and Electronics Engineers Inc., pp. 616-620, 6th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2021, Chongqing, China, 3/07/21. https://doi.org/10.1109/ICARM52023.2021.9536055

Gait planning and control of hexapod robot based on velocity vector. / Xue, Junfeng; Li, Jiehao; Chen, Zhihua et al.
2021 6th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2021. Institute of Electrical and Electronics Engineers Inc., 2021. p. 616-620 (2021 6th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2021).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Gait planning and control of hexapod robot based on velocity vector

AU - Xue, Junfeng

AU - Li, Jiehao

AU - Chen, Zhihua

AU - Wang, Shoukun

AU - Wang, Junzheng

AU - Ma, Ruijun

PY - 2021/7/3

Y1 - 2021/7/3

N2 - The gait planning and control are the main challenge for hexapod robots in unknown terrains, especially when the robot needs to turn. A gait planning and control method based on velocity vector is proposed in this paper for gait turning. Firstly, the overall kinematics model and typical gait sequence of the hexapod robot are introduced. Secondly, the relationship between velocity vector and rotation center is established, and the algorithm flow of diagonal gait and turn gait based on velocity vector is designed. Finally, the Co-simulation based on MATLAB and V-REP is carried out. The simulation results show that the robot body can keep turning with different radius in the process of diagonal gait, which verifies the effectiveness of the algorithm.

AB - The gait planning and control are the main challenge for hexapod robots in unknown terrains, especially when the robot needs to turn. A gait planning and control method based on velocity vector is proposed in this paper for gait turning. Firstly, the overall kinematics model and typical gait sequence of the hexapod robot are introduced. Secondly, the relationship between velocity vector and rotation center is established, and the algorithm flow of diagonal gait and turn gait based on velocity vector is designed. Finally, the Co-simulation based on MATLAB and V-REP is carried out. The simulation results show that the robot body can keep turning with different radius in the process of diagonal gait, which verifies the effectiveness of the algorithm.

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DO - 10.1109/ICARM52023.2021.9536055

M3 - Conference contribution

AN - SCOPUS:85116190640

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SP - 616

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BT - 2021 6th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2021

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 6th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2021

Y2 - 3 July 2021 through 5 July 2021

ER -

Xue J, Li J, Chen Z, Wang S , Wang J, Ma R. Gait planning and control of hexapod robot based on velocity vector. In 2021 6th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2021. Institute of Electrical and Electronics Engineers Inc. 2021. p. 616-620. (2021 6th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2021). doi: 10.1109/ICARM52023.2021.9536055

Gait planning and control of hexapod robot based on velocity vector

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