Multi-agent Application: A Novel Algorithm for Hexapod Robots Gait Transitions
نویسندگان
چکیده
In this paper, a gait transition method has proposed that allows a group of multi-agent hexapod robot to switch from one gait to another gait with stable condition, during different terrain navigation. Typical gaits of locomotion are analyzed for hexapod robot. Hexapod robots frequently operate various gaits to locomote over a variety of surfaces. To enable locomotion in a changing surface, hexapod must be able to stably change between gaits while continuing to locomote. A comparative study, based on different gaits for different surface locomotion, concludes that the hexapod robot use two types gait for complex surfaces with concurrent gait transition during navigation. Finally, a gait transition algorithm is developed for hexapod robots in multi-agent application.
منابع مشابه
The Incremental Evolution of Gaits for Hexapod Robots
Gait control programs for hexapod robots are learned by incremental evolution. The first increment is used to learn the activations required to generate a single leg cycle. At this level the control program is required to produce the proper sequence of pulses needed to generate smooth movement by the servos. The learning program needs to take into account the peculiarities of the servo, its mou...
متن کاملFault-Tolerant Gait Planning of Multi-Legged Robots
A fault-tolerant gait of multi-legged systems is defined as a gait which can maintain the gait stability and continue its walking against the occurrence of a leg failure (Yang & Kim, 1998). The notion of the fault-tolerant gait comes from the fact that legged robots with static walking have inherent fault tolerance capability against a failure in a leg, since a failed leg for itself does not ca...
متن کاملLocomotion analysis of hexapod robot
Multi-legged robots display significant advantages with respect to wheeled ones for walking over rough terrain because they do not need continuous contact with the ground. In Multi-legged robots, hexapod robots, mechanical vehicles that walk on six legs, have attracted considerable attention in recent decades. There are several benefits for hexapods rover. (a) Hexapod robot is easy to maintain ...
متن کاملEvolving Gaits for the Lynxmotion Hexapod II Robot
Gait generation for hexapod robots can be accomplished with a two-phase process, whereby leg cycles that effectively provide thrust are learned and then the proper selection and coordination of these cycles needed to produce a gait are learned. Genetic algorithms can be used to learn both the leg cycles and the coordination. In previous work, this technique was used successfully to generate gai...
متن کاملImage-based Method for Determining Better Walking Strategies for Hexapods
An intelligent walking strategy is vital for multi-legged robots possessing no a priori information of an environ‐ ment when traversing across discontinuous terrain. Sixlegged robots outperform other multi-legged robots in static and dynamic stability. However, hexapods require careful planning to traverse across discontinuous terrain. A hexapod walking strategy can be accomplished using a visi...
متن کامل