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Static Balancing of Wheeled-legged Hexapod Robots

Ernesto Christian Orozco-Magdaleno, Daniele Cafolla Orcid Logo, Eduardo Castillo-Castaneda Orcid Logo, Giuseppe Carbone Orcid Logo

Robotics, Volume: 9, Issue: 2, Start page: 23

Swansea University Author: Daniele Cafolla Orcid Logo

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DOI (Published version): 10.3390/robotics9020023

Abstract

Locomotion over different terrain types, whether flat or uneven, is very important for a wide range of service operations in robotics. Potential applications range from surveillance, rescue, or hospital assistance. Wheeled-legged hexapod robots have been designed to solve these locomotion tasks. Giv...

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Published in: Robotics
ISSN: 2218-6581
Published: MDPI AG 2020
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URI: https://cronfa.swan.ac.uk/Record/cronfa62502
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first_indexed 2023-03-01T14:33:06Z
last_indexed 2023-03-02T04:17:38Z
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spelling 2023-03-01T14:36:00.6627249 v2 62502 2023-02-03 Static Balancing of Wheeled-legged Hexapod Robots ac4feae4da44720e216ab2e0359e4ddb 0000-0002-5602-1519 Daniele Cafolla Daniele Cafolla true false 2023-02-03 SCS Locomotion over different terrain types, whether flat or uneven, is very important for a wide range of service operations in robotics. Potential applications range from surveillance, rescue, or hospital assistance. Wheeled-legged hexapod robots have been designed to solve these locomotion tasks. Given the wide range of feasible operations, one of the key operation planning issues is related to the robot balancing during motion tasks. Usually this problem is related with the pose of the robot’s center of mass, which can be addressed using different mathematical techniques. This paper proposes a new practical technique for balancing wheeled-legged hexapod robots, where a Biodex Balance System model SD (for static & dynamic) is used to obtain the effective position of the center of mass, thus it can be recalculated to its optimal position. Experimental tests are carried out to evaluate the effectiveness of this technique and modify and improve the position of hexapod robots’ center of mass. Journal Article Robotics 9 2 23 MDPI AG 2218-6581 static balancing; wheeled-legged hexapod robots; experimental robotics 7 4 2020 2020-04-07 10.3390/robotics9020023 COLLEGE NANME Computer Science COLLEGE CODE SCS Swansea University 2023-03-01T14:36:00.6627249 2023-02-03T14:19:19.5508071 Faculty of Science and Engineering School of Mathematics and Computer Science - Computer Science Ernesto Christian Orozco-Magdaleno 1 Daniele Cafolla 0000-0002-5602-1519 2 Eduardo Castillo-Castaneda 0000-0002-3307-6947 3 Giuseppe Carbone 0000-0003-0831-8358 4 62502__26711__97da81adad04450fb344fbdd2e4f1408.pdf 62502_VoR.pdf 2023-03-01T14:33:56.6961875 Output 4016503 application/pdf Version of Record true © 2020 by the authors. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license true eng http://creativecommons.org/licenses/by/4.0/
title Static Balancing of Wheeled-legged Hexapod Robots
spellingShingle Static Balancing of Wheeled-legged Hexapod Robots
Daniele Cafolla
title_short Static Balancing of Wheeled-legged Hexapod Robots
title_full Static Balancing of Wheeled-legged Hexapod Robots
title_fullStr Static Balancing of Wheeled-legged Hexapod Robots
title_full_unstemmed Static Balancing of Wheeled-legged Hexapod Robots
title_sort Static Balancing of Wheeled-legged Hexapod Robots
author_id_str_mv ac4feae4da44720e216ab2e0359e4ddb
author_id_fullname_str_mv ac4feae4da44720e216ab2e0359e4ddb_***_Daniele Cafolla
author Daniele Cafolla
author2 Ernesto Christian Orozco-Magdaleno
Daniele Cafolla
Eduardo Castillo-Castaneda
Giuseppe Carbone
format Journal article
container_title Robotics
container_volume 9
container_issue 2
container_start_page 23
publishDate 2020
institution Swansea University
issn 2218-6581
doi_str_mv 10.3390/robotics9020023
publisher MDPI AG
college_str Faculty of Science and Engineering
hierarchytype
hierarchy_top_id facultyofscienceandengineering
hierarchy_top_title Faculty of Science and Engineering
hierarchy_parent_id facultyofscienceandengineering
hierarchy_parent_title Faculty of Science and Engineering
department_str School of Mathematics and Computer Science - Computer Science{{{_:::_}}}Faculty of Science and Engineering{{{_:::_}}}School of Mathematics and Computer Science - Computer Science
document_store_str 1
active_str 0
description Locomotion over different terrain types, whether flat or uneven, is very important for a wide range of service operations in robotics. Potential applications range from surveillance, rescue, or hospital assistance. Wheeled-legged hexapod robots have been designed to solve these locomotion tasks. Given the wide range of feasible operations, one of the key operation planning issues is related to the robot balancing during motion tasks. Usually this problem is related with the pose of the robot’s center of mass, which can be addressed using different mathematical techniques. This paper proposes a new practical technique for balancing wheeled-legged hexapod robots, where a Biodex Balance System model SD (for static & dynamic) is used to obtain the effective position of the center of mass, thus it can be recalculated to its optimal position. Experimental tests are carried out to evaluate the effectiveness of this technique and modify and improve the position of hexapod robots’ center of mass.
published_date 2020-04-07T04:22:10Z
_version_ 1763754461684039680
score 11.035349

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