In this thesis, computer aided design of a macro-positioning robot for an hexapod is considered. The macro-positioning robot is designed to manipulate the hexapod precisely. Hexapod robots have micron-precision motion capability. On the other hand, their limited workspace is not enough for some applications. There are some solutions to extend this limited workspace. Combination of two different...

In this world, there are many dangerous and complicated environments in which humans cannot work. Mobile robots an important method that people use to solve these problems. Hexapod known for their excellent static dynamic stability, as well strong environmental adaptability mobile robots. play a critical role overcoming complex challenging terrain. The paper attempts finish two different parts ...

We report on a continuous time odometry scheme for a walking hexapod robot built upon a previously developed leg-strain based body pose estimator. We implement this estimation procedure and odometry scheme on the robot RHex and evaluate its performance at widely varying speeds and over different ground conditions by means of a 6 degree of freedom vision based ground truth measurement system (GT...

The tiger beetle can maintain its stability by controlling the interaction force between its legs and an unstructured terrain while it runs. The biomimetic hexapod robot mimics a tiger beetle, and a comprehensive force sensing system combined with certain algorithms can provide force information that can help the robot understand the unstructured terrain that it interacts with. This study intro...

The incremental evolution of neural networks to control hexapod robot locomotion can be separated into two main parts: the evolution of leg controllers that produce the cyclic action of single legs (leg cycles) and the evolution of the coordination of these individual leg controllers to produce a gait. In this paper, we use a genetic algorithm to do the first of these steps, to evolve the struc...

This paper presents the first evidence that the Spring Loaded Inverted Pendulum (SLIP) may be “anchored ” in our recently designed compliant leg hexapod robot, RHex. Experimentally measured RHex center of mass trajectories are fit to the SLIP model and an analysis of the fitting error is performed. The fitting results are corroborated by numerical simulations. The “anchoring ” of SLIP dynamics ...

In this study, computer aided design of a macro-positioning robot for an hexapod is considered. The macro-positioning robot is designed to manipulate the hexapod precisely. Hexapod robots have micron-precision motion capability. On the other hand, their limited workspace is not enough for some applications. There are some solutions to extend this limited workspace. Combination of two different ...