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## Mathematical Model and Control Simulation of Hexapod Robot Locomotion in Tripod Gait

Osman, Krešimir; Alajbeg, Trpimir
Mathematical Model and Control Simulation of Hexapod Robot Locomotion in Tripod Gait // Proceedings of the 10th ECCOMAS Thematic Conference on MULTIBODY DYNAMICS / Kovecses, Jozsef ; Stepan, Gabor ; Zelei, Ambrus (ur.).
Budapest, Hungary: Budapest University of Technology and Economics, 2021. str. 322-332 (predavanje, međunarodna recenzija, cjeloviti rad (in extenso), znanstveni)

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Naslov
Mathematical Model and Control Simulation of Hexapod Robot Locomotion in Tripod Gait

Autori
Osman, Krešimir ; Alajbeg, Trpimir

Izvornik
Proceedings of the 10th ECCOMAS Thematic Conference on MULTIBODY DYNAMICS / Kovecses, Jozsef ; Stepan, Gabor ; Zelei, Ambrus - Budapest, Hungary : Budapest University of Technology and Economics, 2021, 322-332

ISBN
978-963-421-870-8

Skup
10th ECCOMAS Thematic Conference on MULTIBODY DYNAMICS

Mjesto i datum
Budapest, Hungary, 12.-15.12.2021

Vrsta sudjelovanja
Predavanje

Vrsta recenzije
Međunarodna recenzija

Ključne riječi
hexapod robot, tripod gait, rectangular robot design, PID control

Sažetak
This paper presents the research of a hexapod robot as its movement along a defined path. Firstly, the performance of the robot product architecture is presented and a mathematical kinematic model of the robot is derived according to it, i.e. its legs using the Denavit-Hartenberg method and homogeneous transformations. The purpose of this was to obtain the equations of inverse kinematics. A simplified robot product architecture based on rectangular robot design was used to perform the mathematical model. It is shown by a simplified kinematic scheme. In addition, a control algorithm was performed using a PID controller in each ankle. The controller’s parameters are adjusted on one leg of the robot, and after that, this is used to adjust the control on the other legs in this way. The simulation of the controlled motion of the robot was performed using the computer program MATLAB Simulink and the Simscape Multibody environment. In doing so, only the robot's movement on flat terrain was observed. The tripod gait was chosen for the motion model due to the simplicity of creating the model and performing the simulation, as well as the speed of movement.

Izvorni jezik
Engleski

Znanstvena područja
Elektrotehnika, Strojarstvo, Temeljne tehničke znanosti

Ustanove:
Tehničko veleučilište u Zagrebu

Profili:

Krešimir Osman (autor)

Trpimir Alajbeg (autor)

#### Citiraj ovu publikaciju:

Osman, Krešimir; Alajbeg, Trpimir
Mathematical Model and Control Simulation of Hexapod Robot Locomotion in Tripod Gait // Proceedings of the 10th ECCOMAS Thematic Conference on MULTIBODY DYNAMICS / Kovecses, Jozsef ; Stepan, Gabor ; Zelei, Ambrus (ur.).
Budapest, Hungary: Budapest University of Technology and Economics, 2021. str. 322-332 (predavanje, međunarodna recenzija, cjeloviti rad (in extenso), znanstveni)
Osman, K. & Alajbeg, T. (2021) Mathematical Model and Control Simulation of Hexapod Robot Locomotion in Tripod Gait. U: Kovecses, J., Stepan, G. & Zelei, A. (ur.)Proceedings of the 10th ECCOMAS Thematic Conference on MULTIBODY DYNAMICS.
@article{article, author = {Osman, Kre\v{s}imir and Alajbeg, Trpimir}, year = {2021}, pages = {322-332}, keywords = {hexapod robot, tripod gait, rectangular robot design, PID control}, isbn = {978-963-421-870-8}, title = {Mathematical Model and Control Simulation of Hexapod Robot Locomotion in Tripod Gait}, keyword = {hexapod robot, tripod gait, rectangular robot design, PID control}, publisher = {Budapest University of Technology and Economics}, publisherplace = {Budapest, Hungary} }
@article{article, author = {Osman, Kre\v{s}imir and Alajbeg, Trpimir}, year = {2021}, pages = {322-332}, keywords = {hexapod robot, tripod gait, rectangular robot design, PID control}, isbn = {978-963-421-870-8}, title = {Mathematical Model and Control Simulation of Hexapod Robot Locomotion in Tripod Gait}, keyword = {hexapod robot, tripod gait, rectangular robot design, PID control}, publisher = {Budapest University of Technology and Economics}, publisherplace = {Budapest, Hungary} }

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