Sensors (Mar 2024)

Kinematic Analysis and Application to Control Logic Development for RHex Robot Locomotion

  • Piotr Burzyński,
  • Ewa Pawłuszewicz,
  • Leszek Ambroziak,
  • Suryansh Sharma

DOI
https://doi.org/10.3390/s24051636
Journal volume & issue
Vol. 24, no. 5
p. 1636

Abstract

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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.

Keywords