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12 April 2021 Dynamic modeling and real-time evaluation of reaction forces and torques of hexapod robot
Sameh I. Beaber Sr., Abdelrahman A. Zaghloul Sr., Mohamed A. Kamel Sr., Wessam M. Hussein Sr.
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Proceedings Volume 11758, Unmanned Systems Technology XXIII; 1175808 (2021) https://doi.org/10.1117/12.2596113
Event: SPIE Defense + Commercial Sensing, 2021, Online Only
Abstract
This paper presents a dynamic modeling and experimental evaluation of reaction forces and joints torque of a hexapod robot walking in a straight line with a tripod gate. First, the kinematic model of the robot was considered by solving the forward and the inverse kinematics of each leg. Based on tripod walking gait and motion in a straight-line path, the trajectory of each leg is generated for support and transfer phase. Second, a complete dynamic model is presented to estimate the feet force reaction, and the torque of each joint. The foot interaction with the ground modeled depend on a compliant model, and a force distribution method is performed to find the required friction forces. This can minimize energy consumption and slippage possibility. Then, with the aid of using Matlab SimMechanics, a straight-line motion with tripod gate is simulated, and feet forces distribution and joints torques are calculated. Finally, real-time torque of each joint and normal force of each leg tip is measured, assuming at least three legs always remain in contact with the ground (which called support phase), and the other three are in swing phase, which offers two options for torque and force measurements.
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Sameh I. Beaber Sr., Abdelrahman A. Zaghloul Sr., Mohamed A. Kamel Sr., and Wessam M. Hussein Sr. "Dynamic modeling and real-time evaluation of reaction forces and torques of hexapod robot", Proc. SPIE 11758, Unmanned Systems Technology XXIII, 1175808 (12 April 2021); https://doi.org/10.1117/12.2596113
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KEYWORDS
Motion models
Kinematics
Computer simulations
Gait analysis
MATLAB
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