In this paper, we propose a scheme for fault detection and tolerance of the hexapod robot locomotion on even terrain. The fault stability margin is defined to represent potential stability which a gait can have in case a sudden fault event occurs to one leg. Based on this, the fault-tolerant quadruped periodic gaits of the hexapod walking over perfectly even terrain are derived. It is demonstra...

Multi-legged robots display significant advantages with respect to wheeled ones for walking over rough terrain because they do not need continuous contact with the ground. In Multi-legged robots, hexapod robots, mechanical vehicles that walk on six legs, have attracted considerable attention in recent decades. There are several benefits for hexapods rover. (a) Hexapod robot is easy to maintain ...

Purpose – The purpose of this paper is to propose two simple tools for the kinematic characterization of hexapods. The paper also aims to share the experience of converting a popular commercial motion base (Stewart-Gough platform, hexapod) to an industrial robot for use in heavy duty aerospace manufacturing processes. Design/methodology/approach – The complete workspace of a hexapod is a six-di...

as a robot could be stable statically standing on three or more legs, a six legged walking robot can be highly flexible in movements and perform different missions without dealing with serious kinematic and dynamic problems. an experimental six legged walking robot with 18 degrees of freedom is studied and built in this paper. the kinematic and gait analysis formulations are demonstrated by an e...

In this communication, hexapod tripod gaits for straightline motion and crab walking are derived. Mathematical relations that express the stability margin, the stride length, and the duty factor are formulated for straight-line motion and for crab walking, respectively. The derived results provide tripod gaits of the hexapod for walking with a prescribed stability margin either over perfect ter...

In this paper the issue of locomotion control in bio-inspired hexapod structures is considered as a problem of convergence toward flow invariant subspaces in networks of mutually and locally coupled neural units. Since the network topologies used refer to undirected diffusive tree graphs, in this case a unique gain value on the graph connection matrix can be found to guarantee exponential conve...

Versatile superstructures composed of nanoparticles have recently been prepared using various disassembly methods. However, little information is known on how the structural disassembly influences the catalytic performance of the materials. Here we show how the disassembly of an ordered porous La0.6Sr0.4MnO3 perovskite array, to give hexapod mesostructured nanoparticles, exposes a new crystal f...