Study of the locomotion of a hexapod using CoppeliaSim and ROS

Bibliographic Details
Main Author: Coelho, Joana
Publication Date: 2021
Other Authors: Sá, Rafaela, Ribeiro, Tiago, Ribeiro, A. Fernando, Dias, Bruno, Lopes, Gil, Flores, Paulo
Language: eng
Source: Repositórios Científicos de Acesso Aberto de Portugal (RCAAP)
Download full: https://hdl.handle.net/1822/73620
Summary: Generating adaptive locomotion has seen a growing interest for the design of hexapods due to improving the autonomy of these robots, allowing them to execute tasks in more demanding environments. Data from the robot’s surrounding must be acquired and processed to adjust the locomotion, and aid with the actuation of the six limbs. This paper aims at using force sensors placed on the feet of a hexapod to control the changes of the gait phase of each limb. These sensors also assist in the search of new footholds when no contact forces are established with the ground. The system is tested in a smooth irregular terrain with obstacles, steps, and ramps, using CoppeliaSim and ROS (Robot Operating System), to dynamically evaluate the behavior of the hexapod.
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spelling Study of the locomotion of a hexapod using CoppeliaSim and ROSHexapodCoppeliaSimROSAdaptive gaitRoboticsEngenharia e Tecnologia::Engenharia MecânicaGenerating adaptive locomotion has seen a growing interest for the design of hexapods due to improving the autonomy of these robots, allowing them to execute tasks in more demanding environments. Data from the robot’s surrounding must be acquired and processed to adjust the locomotion, and aid with the actuation of the six limbs. This paper aims at using force sensors placed on the feet of a hexapod to control the changes of the gait phase of each limb. These sensors also assist in the search of new footholds when no contact forces are established with the ground. The system is tested in a smooth irregular terrain with obstacles, steps, and ramps, using CoppeliaSim and ROS (Robot Operating System), to dynamically evaluate the behavior of the hexapod.FCT -Fundação para a Ciência e a Tecnologia(SFRH/BD/145818/2019)Universidade do MinhoCoelho, JoanaSá, RafaelaRibeiro, TiagoRibeiro, A. FernandoDias, BrunoLopes, GilFlores, Paulo20212021-01-01T00:00:00Zconference paperinfo:eu-repo/semantics/publishedVersionapplication/pdfhttps://hdl.handle.net/1822/73620eng978166542371710.1109/CompAuto54408.2021.00027info: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:RCAAP2024-12-14T01:18:11Zoai:repositorium.sdum.uminho.pt:1822/73620Portal AgregadorONGhttps://www.rcaap.pt/oai/openaireinfo@rcaap.ptopendoar:https://opendoar.ac.uk/repository/71602025-05-28T16:35:24.952145Repositórios 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 Study of the locomotion of a hexapod using CoppeliaSim and ROS
title Study of the locomotion of a hexapod using CoppeliaSim and ROS
spellingShingle Study of the locomotion of a hexapod using CoppeliaSim and ROS
Coelho, Joana
Hexapod
CoppeliaSim
ROS
Adaptive gait
Robotics
Engenharia e Tecnologia::Engenharia Mecânica
title_short Study of the locomotion of a hexapod using CoppeliaSim and ROS
title_full Study of the locomotion of a hexapod using CoppeliaSim and ROS
title_fullStr Study of the locomotion of a hexapod using CoppeliaSim and ROS
title_full_unstemmed Study of the locomotion of a hexapod using CoppeliaSim and ROS
title_sort Study of the locomotion of a hexapod using CoppeliaSim and ROS
author Coelho, Joana
author_facet Coelho, Joana
Sá, Rafaela
Ribeiro, Tiago
Ribeiro, A. Fernando
Dias, Bruno
Lopes, Gil
Flores, Paulo
author_role author
author2 Sá, Rafaela
Ribeiro, Tiago
Ribeiro, A. Fernando
Dias, Bruno
Lopes, Gil
Flores, Paulo
author2_role author
author
author
author
author
author
dc.contributor.none.fl_str_mv Universidade do Minho
dc.contributor.author.fl_str_mv Coelho, Joana
Sá, Rafaela
Ribeiro, Tiago
Ribeiro, A. Fernando
Dias, Bruno
Lopes, Gil
Flores, Paulo
dc.subject.por.fl_str_mv Hexapod
CoppeliaSim
ROS
Adaptive gait
Robotics
Engenharia e Tecnologia::Engenharia Mecânica
topic Hexapod
CoppeliaSim
ROS
Adaptive gait
Robotics
Engenharia e Tecnologia::Engenharia Mecânica
description Generating adaptive locomotion has seen a growing interest for the design of hexapods due to improving the autonomy of these robots, allowing them to execute tasks in more demanding environments. Data from the robot’s surrounding must be acquired and processed to adjust the locomotion, and aid with the actuation of the six limbs. This paper aims at using force sensors placed on the feet of a hexapod to control the changes of the gait phase of each limb. These sensors also assist in the search of new footholds when no contact forces are established with the ground. The system is tested in a smooth irregular terrain with obstacles, steps, and ramps, using CoppeliaSim and ROS (Robot Operating System), to dynamically evaluate the behavior of the hexapod.
publishDate 2021
dc.date.none.fl_str_mv 2021
2021-01-01T00:00:00Z
dc.type.driver.fl_str_mv conference paper
dc.type.status.fl_str_mv info:eu-repo/semantics/publishedVersion
status_str publishedVersion
dc.identifier.uri.fl_str_mv https://hdl.handle.net/1822/73620
url https://hdl.handle.net/1822/73620
dc.language.iso.fl_str_mv eng
language eng
dc.relation.none.fl_str_mv 9781665423717
10.1109/CompAuto54408.2021.00027
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.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
instacron_str RCAAP
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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