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Hexapod Gait Planning and Obstacle Avoidance Algorithm

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2016, Master of Science, University of Toledo, Mechanical Engineering.
The purpose of this research is to design a gait planning method for hexapod robots. On that basis, this thesis proposes a control strategy with which to achieve stable walking in complex and unknown environments. First of all, the kinematics of the motion of the hexapod robot is analyzed on the basis of the hexapod robot’s mechanical structure utilizing the D-H method. Its forward and inverse kinematics equations are derived on the basis of the series-parallel structure. The workspace of the hexapod robot’s foot is analyzed. The kinematic equations are verified via simulation. The gait of the hexapod robot is planned. Strategies of tripod gait’s start-stop cycle as well as quadruped and five-feet gait start-stop in stance phase are proposed, which guarantees stable and continuous walking. By combining the method of foot planning trajectory and kinematic equations, several typical gaits are simulated in Adams, and the gait planning method is verified. A strategy of walking on complex terrains is proposed utilizing several gait combinations, which is also verified in Matlab. The research uses Arduino and a 32 channel servo controller in order to control each leg and servo. Second, the research focuses on path planning of these robots. Mobile robot path planning technology is one of the important areas in mobile robot technology research. Path planning is also the fundamental technique for mobile robots to complete other activities.This thesis discusses the topic of researching mobile robot obstacle avoidance, introduces the background of this research field and its significance and trends, and analyses several theories that are commonly used in mobile robot path planning. Meanwhile, it introduces several algorithms for mobile robot path planning, including a detailed description of the convex hull algorithm for obstacle avoidance under the OPENCV environment. The activity range of robot is a 2D plane which is a visual range from camera. The objective is to find a rout from start point to target point that avoids the obstacles. The thesis uses a convex hull algorithm in order to calculate the shortest route from this visual range, which has multiple polygons.
Manish Kumar (Advisor)
110 p.

Recommended Citations

Citations

  • Guo, Y. (2016). Hexapod Gait Planning and Obstacle Avoidance Algorithm [Master's thesis, University of Toledo]. OhioLINK Electronic Theses and Dissertations Center. http://rave.ohiolink.edu/etdc/view?acc_num=toledo1461868607

    APA Style (7th edition)

  • Guo, Yixuan. Hexapod Gait Planning and Obstacle Avoidance Algorithm. 2016. University of Toledo, Master's thesis. OhioLINK Electronic Theses and Dissertations Center, http://rave.ohiolink.edu/etdc/view?acc_num=toledo1461868607.

    MLA Style (8th edition)

  • Guo, Yixuan. "Hexapod Gait Planning and Obstacle Avoidance Algorithm." Master's thesis, University of Toledo, 2016. http://rave.ohiolink.edu/etdc/view?acc_num=toledo1461868607

    Chicago Manual of Style (17th edition)