Legged robots that balance
Machines That Walk: The Adaptive Suspension Vehicle
Machines That Walk: The Adaptive Suspension Vehicle
RHex: A Biologically Inspired Hexapod Runner
Autonomous Robots
Dynamic locomotion with a hexapod robot
Dynamic locomotion with a hexapod robot
Modeling and Experiments of Untethered Quadrupedal Running with a Bounding Gait: The Scout II Robot
International Journal of Robotics Research
Free gait generation with reinforcement learning for a six-legged robot
Robotics and Autonomous Systems
Two-phase discontinuous gaits for quadruped walking machines with a failed leg
Robotics and Autonomous Systems
Gait planning based on kinematics for a quadruped gecko model with redundancy
Robotics and Autonomous Systems
Computer simulation and dynamic modeling of a quadrupedal pronking gait robot with SLIP model
Computers and Electrical Engineering
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Kinematic and dynamic analysis, and control actions of a hexapod robot were realized for walking, running and bounding gaits in this study. If biological inspiration can be used to build robots that deal robustly with complex environments, it should be possible to demonstrate that legged biorobots can function in natural environments. Firstly, we tried to report on theoretic work with a six legged robot designed to emulate spider behavior like walking, running and bounding. We demonstrated theoretically that it can successfully walk, run and bound like a spider over natural terrain. Secondly, limitations in its capability were evaluated, and many biologically based important improvements were obtained for future experimental work. Thirdly, the hexapod robot with bounding gait was controlled by proportional-derivative control algorithm and was carried out by using spring loaded inverted pendulum model. Consequently, the developed kinematic and dynamic methods, and control action method makes both the system control easy and the system performance is improved by decreasing the run time for each loop.