Hexapod posture control for navigation across complex environments

Detalhes bibliográficos
Autor(a) principal: Coelho, Joana
Data de Publicação: 2022
Outros Autores: Dias, Bruno, Lopes, Gil, Ribeiro, A. Fernando, Flores, Paulo
Idioma: eng
Título da fonte: Repositórios Científicos de Acesso Aberto de Portugal (RCAAP)
Texto Completo: https://hdl.handle.net/1822/77635
Resumo: Hexapod locomotion in unstructured environments relies on an efficient posture adjustment with the terrain topology. This paper presents a strategy to adapt the hexapod torso orientation through ground plane estimation. With an Inertial Measurement Unit (IMU) and the robot kinematic model, the current supporting feet coordinates are calculated, and the relative inclination between the ground and the torso angular position can be obtained. This information is used to adjust the novel foothold positions, in order to ensure the hexapod posture remains stable. The torso height is also controlled to avoid collisions with the ground asperities and decrease its deviation during motion. The proposed method is evaluated in a complex terrain made of 0.1×0.1 m blocks with variable height, causing different slopes across the field. Through result analysis, a significant behavior improvement is observed, due to the reduction of the torso posture oscillation and the increase of its locomotion efficiency.
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spelling Hexapod posture control for navigation across complex environmentsEngenharia e Tecnologia::Engenharia MecânicaHexapod locomotion in unstructured environments relies on an efficient posture adjustment with the terrain topology. This paper presents a strategy to adapt the hexapod torso orientation through ground plane estimation. With an Inertial Measurement Unit (IMU) and the robot kinematic model, the current supporting feet coordinates are calculated, and the relative inclination between the ground and the torso angular position can be obtained. This information is used to adjust the novel foothold positions, in order to ensure the hexapod posture remains stable. The torso height is also controlled to avoid collisions with the ground asperities and decrease its deviation during motion. The proposed method is evaluated in a complex terrain made of 0.1×0.1 m blocks with variable height, causing different slopes across the field. Through result analysis, a significant behavior improvement is observed, due to the reduction of the torso posture oscillation and the increase of its locomotion efficiency.The first author received funding through a doctoral scholarship from the Portuguese Foundation for Science and Technology (FCT) (Grant No. SFRH/BD/145818/2019), with funds from the Portuguese Ministry of Science, Technology and Higher Education and the European Social Fund through the Programa Operacional Regional Norte. This work has been supported by FCT within the R&D Units Project Scope: UIDB/00319/2020, UIDB/04436/2020 and UIDP/04436/2020.Springer, ChamUniversidade do MinhoCoelho, JoanaDias, BrunoLopes, GilRibeiro, A. FernandoFlores, Paulo20222022-01-01T00:00:00Zbook partinfo:eu-repo/semantics/publishedVersionapplication/pdfhttps://hdl.handle.net/1822/77635engCoelho, J., Dias, B., Lopes, G., Ribeiro, F., Flores, P. (2022). Hexapod Posture Control for Navigation Across Complex Environments. In: Kecskeméthy, A., Parenti-Castelli, V. (eds) ROMANSY 24 - Robot Design, Dynamics and Control. ROMANSY 2022. CISM International Centre for Mechanical Sciences, vol 606. Springer, Cham. https://doi.org/10.1007/978-3-031-06409-8_20978-3-031-06408-10254-197110.1007/978-3-031-06409-8_20978-3-031-06409-8info:eu-repo/semantics/openAccessreponame:Repositórios Científicos de Acesso Aberto de Portugal (RCAAP)instname:FCCN, serviços digitais da FCT – Fundação para a Ciência e a Tecnologiainstacron:RCAAP2024-05-11T06:45:58Zoai:repositorium.sdum.uminho.pt:1822/77635Portal AgregadorONGhttps://www.rcaap.pt/oai/openaireinfo@rcaap.ptopendoar:https://opendoar.ac.uk/repository/71602025-05-28T16:03:41.341703Repositórios Científicos de Acesso Aberto de Portugal (RCAAP) - FCCN, serviços digitais da FCT – Fundação para a Ciência e a Tecnologiafalse
dc.title.none.fl_str_mv Hexapod posture control for navigation across complex environments
title Hexapod posture control for navigation across complex environments
spellingShingle Hexapod posture control for navigation across complex environments
Coelho, Joana
Engenharia e Tecnologia::Engenharia Mecânica
title_short Hexapod posture control for navigation across complex environments
title_full Hexapod posture control for navigation across complex environments
title_fullStr Hexapod posture control for navigation across complex environments
title_full_unstemmed Hexapod posture control for navigation across complex environments
title_sort Hexapod posture control for navigation across complex environments
author Coelho, Joana
author_facet Coelho, Joana
Dias, Bruno
Lopes, Gil
Ribeiro, A. Fernando
Flores, Paulo
author_role author
author2 Dias, Bruno
Lopes, Gil
Ribeiro, A. Fernando
Flores, Paulo
author2_role author
author
author
author
dc.contributor.none.fl_str_mv Universidade do Minho
dc.contributor.author.fl_str_mv Coelho, Joana
Dias, Bruno
Lopes, Gil
Ribeiro, A. Fernando
Flores, Paulo
dc.subject.por.fl_str_mv Engenharia e Tecnologia::Engenharia Mecânica
topic Engenharia e Tecnologia::Engenharia Mecânica
description Hexapod locomotion in unstructured environments relies on an efficient posture adjustment with the terrain topology. This paper presents a strategy to adapt the hexapod torso orientation through ground plane estimation. With an Inertial Measurement Unit (IMU) and the robot kinematic model, the current supporting feet coordinates are calculated, and the relative inclination between the ground and the torso angular position can be obtained. This information is used to adjust the novel foothold positions, in order to ensure the hexapod posture remains stable. The torso height is also controlled to avoid collisions with the ground asperities and decrease its deviation during motion. The proposed method is evaluated in a complex terrain made of 0.1×0.1 m blocks with variable height, causing different slopes across the field. Through result analysis, a significant behavior improvement is observed, due to the reduction of the torso posture oscillation and the increase of its locomotion efficiency.
publishDate 2022
dc.date.none.fl_str_mv 2022
2022-01-01T00:00:00Z
dc.type.driver.fl_str_mv book part
dc.type.status.fl_str_mv info:eu-repo/semantics/publishedVersion
status_str publishedVersion
dc.identifier.uri.fl_str_mv https://hdl.handle.net/1822/77635
url https://hdl.handle.net/1822/77635
dc.language.iso.fl_str_mv eng
language eng
dc.relation.none.fl_str_mv Coelho, J., Dias, B., Lopes, G., Ribeiro, F., Flores, P. (2022). Hexapod Posture Control for Navigation Across Complex Environments. In: Kecskeméthy, A., Parenti-Castelli, V. (eds) ROMANSY 24 - Robot Design, Dynamics and Control. ROMANSY 2022. CISM International Centre for Mechanical Sciences, vol 606. Springer, Cham. https://doi.org/10.1007/978-3-031-06409-8_20
978-3-031-06408-1
0254-1971
10.1007/978-3-031-06409-8_20
978-3-031-06409-8
dc.rights.driver.fl_str_mv info:eu-repo/semantics/openAccess
eu_rights_str_mv openAccess
dc.format.none.fl_str_mv application/pdf
dc.publisher.none.fl_str_mv Springer, Cham
publisher.none.fl_str_mv Springer, Cham
dc.source.none.fl_str_mv reponame:Repositórios Científicos de Acesso Aberto de Portugal (RCAAP)
instname:FCCN, serviços digitais da FCT – Fundação para a Ciência e a Tecnologia
instacron:RCAAP
instname_str FCCN, serviços digitais da FCT – Fundação para a Ciência e a Tecnologia
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institution RCAAP
reponame_str Repositórios Científicos de Acesso Aberto de Portugal (RCAAP)
collection Repositórios Científicos de Acesso Aberto de Portugal (RCAAP)
repository.name.fl_str_mv Repositórios Científicos de Acesso Aberto de Portugal (RCAAP) - FCCN, serviços digitais da FCT – Fundação para a Ciência e a Tecnologia
repository.mail.fl_str_mv info@rcaap.pt
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