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Development and implementation of a new approach for posture control of a hexapod robot to walk in irregular terrains

Published online by Cambridge University Press:  27 December 2023

Joana Coelho Open the ORCID record for Joana Coelho [Opens in a new window] ,
Bruno Dias ,
Gil Lopes ,
Fernando Ribeiro  and
Paulo Flores
Joana Coelho*
Affiliation:
CMEMS-UMinho, LABBELS – Associate Laboratory, Mechanical Engineering Department, University of Minho, Guimarães, 4800-058, Portugal
Bruno Dias
Affiliation:
Center Algoritmi, Department of Informatics, University of Minho, 4710-057, Braga, Portugal
Gil Lopes
Affiliation:
INESC-TEC, University Institute of Maia, 4475-690, Maia, Portugal
Fernando Ribeiro
Affiliation:
Center Algoritmi, Department of Industrial Electronics, University of Minho, 4800-058, Braga, Portugal
Paulo Flores
Affiliation:
CMEMS-UMinho, LABBELS – Associate Laboratory, Mechanical Engineering Department, University of Minho, Guimarães, 4800-058, Portugal
*
Corresponding author: Joana Coelho; Email: id8667@alunos.uminho.pt
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Abstract

The adaptability of hexapods for various locomotion tasks, especially in rescue and exploration missions, drives their application. Unlike controlled environments, these robots need to navigate ever-changing terrains, where ground irregularities impact foothold positions and origin shifts in contact forces. This dynamic interaction leads to varying hexapod postures, affecting overall system stability. This study introduces a posture control approach that adjusts the hexapod’s main body orientation and height based on terrain topology. The strategy estimates ground slope using limb positions, thereby calculating novel limb trajectories to modify the hexapod’s angular position. Adjusting the hexapod’s height, based on the calculated slope, further enhances main body stability. The proposed methodology is implemented and evaluated on the ATHENA hexapod (All-Terrain Hexapod for Environment Adaptability). Control feasibility is assessed through dynamic analysis of the hexapod’s multibody model on irregular surfaces, using computational simulations in Gazebo software. Environmental complexity’s impact on hexapod stability is tested on both a ramp and uneven terrain. Independent analyses for each scenario evaluate the controller’s effect on roll and pitch angular velocities, as well as height variations. Results demonstrate the strategy’s suitability for both environments, significantly enhancing posture stability.

Keywords

hexapodlegged robotsposture controlunstructured environments
Type
Research Article
Information
Robotica , Volume 42 , Issue 3 , March 2024 , pp. 792 - 816
Copyright
© The Author(s), 2023. Published by Cambridge University Press

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