Burzyński Piotr, Pawłuszewicz Ewa, Ambroziak Leszek, Sharma Suryansh
Department of Industrial Process Automation, Faculty of Mechanical Engineering, Bialystok University of Technology, Wiejska 45C, 15-351 Bialystok, Poland.
Networked Systems Group, Delft University of Technology, Building 28, Van Mourik Broekmanweg 6, 2628 XE Delft, The Netherlands.
Sensors (Basel). 2024 Mar 2;24(5):1636. doi: 10.3390/s24051636.
This study explores the kinematic model of the popular RHex hexapod robots which have garnered considerable interest for their locomotion capabilities. We study the influence of tripod trajectory parameters on the RHex robot's movement, aiming to craft a precise kinematic model that enhances walking mechanisms. This model serves as a cornerstone for refining robot control strategies, enabling tailored performance enhancements or specific motion patterns. Validation conducted on a bespoke test bed confirms the model's efficacy in predicting spatial movements, albeit with minor deviations due to motor load variations and control system dynamics. In particular, the derived kinematic framework offers valuable insights for advancing control logic, particularly navigating in flat terrains, thereby broadening the RHex robot's application spectrum.
本研究探讨了广受欢迎的RHex六足机器人的运动学模型，该机器人因其运动能力而备受关注。我们研究了三脚架轨迹参数对RHex机器人运动的影响，旨在构建一个精确的运动学模型，以改进行走机制。该模型是完善机器人控制策略的基石，能够实现定制化的性能提升或特定的运动模式。在定制测试平台上进行的验证证实了该模型在预测空间运动方面的有效性，尽管由于电机负载变化和控制系统动态特性存在微小偏差。特别是，所推导的运动学框架为推进控制逻辑提供了有价值的见解，尤其是在平坦地形中的导航，从而拓宽了RHex机器人的应用范围。
