One of the main concerns about parallel mechanisms is the presence of singular points within their workspaces. In singular positions the mechanism gains or loses one or several degrees of freedom. It is impossible to control the mechanism in singular positions. Therefore, these positions have to be avoided. This is a vital need especially in computer controlled machine tools designed and manufa...

Abstract: In order to find a common approach to plan the turning of a bio-inspired hexapod robot, a locomotion strategy for turning and deviation correction of a hexapod walking robot based on the biological behavior and sensory strategy of ants. A series of experiments using ants were carried out where the gait and the movement form of ants was studied. Taking the results of the ant experiment...

The project is on an autonomous hexapod shaped robot which can move around the area prone to land mines and other explosives to explore them and send the sensed data to the cloud at the same time as a warning. Since a hexapod has many degrees of freedom its movement can be made highly precise. The robot is attached with many peripheral sensors to record the object of interest data and those dat...

The Dynamical Systems Design department at the Eindhoven University of Eindhoven is actively researching the design and control of robotic systems. Examples are Amigo, the service robot competing in the RoboCup @home league, the mid-size league soccer robots of Tech United and the Tulip which is the humanoid robot competing in the RoboCup humanoid adult league. One of the new research activitie...

Phylogenetic analyses imply that multiple engrailed-family gene duplications occurred during hexapod evolution, a view supported by previous reports of only a single engrailed-family gene in members of the grasshopper genus Schistocerca and in the beetle Tribolium castaneum. Here, we report the cloning of a second engrailed-family gene from Schistocerca gregaria and present evidence for two eng...

This paper describes a genetic-fuzzy system in which a genetic algorithm (GA) is used to improve the performance of a fuzzy logic controller (FLC). The proposed algorithm is tested on a number of gait-generation problems of a hexapod for crossing a ditch while moving on at terrain along a straight line path with minimum number of legs on the ground and with maximum average kinematic margin of t...

In this paper, we present the design, modeling and preliminary control of RHex, an autonomous dynamically stable hexapod possessing merely six actuated degrees of freedom (at the hip attachment of each leg). Our design emphasizes mechanical simplicity as well as power and computational autonomy, critical components for legged robotics applications. A compliant hexapod model, used to build a sim...

Biological systems can provide useful insights into principles of design and control of locomotion that can be applied to legged robots. In this paper we review our work on cockroaches using finite element analysis to model how loads are sensed and regulated in walking and climbing. A number of biological studies have shown that sensors that detect forces in the legs of insects are of particula...

Çok ayaklı robotlar uzay çalışmalarında, doğal afetlerde ilk yardım ile arama ve kurtarma faaliyetlerinde, savunma sanayisinde, tehlikeli patlayıcı maddelerin tespit imhasında, madencilikte, nükleer santrallerde daha birçok alanda kullanılmaktadırlar. sınıflandırmasında yer alan hexapod robot, yürümek veya hareket etmek için altı ayağı olan bir robot olarak tanımlanır. Hexapod robotlarda ayakla...