Simulation of a Robot in Bio-Inspired Hexapod Tenebrio
DOI:
https://doi.org/10.21501/21454086.1636Keywords:
Kinematics, Stability, Hexapod, Simulation, Support Tripod.Abstract
Insects are an essential foundation in the study of reactive robotics because they possess both biological and moving features that are of interest to implement bio-inspired robots, keeping into account their performance in different areas. However, hexapods animals have omnidirectional and stability, due to their formation as a tripod support, which creates their feet in order to take a step, allowing them to overcome different obstacles with ease at constant speed.
In this project it has been implemented an insect Tenebrio locomotor system, thanks to the ease to see their movements. Legs movement of insects is analyzed in all trajectories, lands, and views. Furthermore, formulation of both parameters, equations, and constraints are performed by limiting the various links of each of Tenebrio´s leg. This was realized through image analysis. Finally, the information was collected and implemented in MATLAB in order to determine the characteristics of movement, as well as its stability and drive.
Downloads
References
J. E. Vargas. “Diseño un Robot Hexápodo Tipo Hormiga”. En 2006 Vlll Congreso Mexicano de Robótica, COMRob. México, D.F., pp. 80-85. [Online] Disponible en: http://www.profesaulosuna.com/data/files/ROBOTICA/CONTROL%20MATLAB%20ROBOT/evs-amrob06.pdf. Agosto de 2015.
J. Ollervides, N. Pineda, A. Sáenz, V. Santibáñez y A. Dzul. “Sistema de Control de Locomoción de un Robot Hexápodo Caminante”. En 2013 Congreso Nacional de Control Automático. Baja California, México, pp. 520-525. [Online] Disponible en: http://eventos.cicese.mx/amca2013/papers/0179.pdf. Agosto de 2015.
R. Campos, M. Vitor, and C. Santos. “Hexapod Locomotion a Nonlinear Dynamical Systems Approach”. In 2010 36th Annual conference on IEEE Industrial Electronics Society. Glendale, AZ, pp. 1546-1551. [Online] Disponible en: 10.1109/IECON.2010.5675454. Agosto de 2015.
R. R. Herrera, T. M. B. Cambray y J. F. S. Talamantes. “Robot Insecto Orientado a Comportamiento”. En 2009 Vlll Congreso Nacional de Mecatrónica. Veracruz, Veracruz, pp. 10-15. [Online] Disponible en: http://www.mecamex.net/anterior/cong08/articulos/03.pdf. Agosto de 2015.
G. Jianhua. “Design and Kinematic Simulation for Six-DOF Leg Mechanism of Hexapod Robot”. In 2006 International Conference on Robotics and Biomimetics. Kunming, China, pp. 625-629. . [Online] Disponible en: 10.1109/ROBIO.2006.340272. Agosto de 2015.
Z. Jing, W. Jianhua, C. Weihai, and C. Wenjie. “Virtual Model Optimization and Locomotion Control of Bionic Hexapod Robot”. In 2012 7th IEEE Conference on Industrial Electronics and Applications. Singapore, pp. 497-501. [Online] Disponible en: 10.1109/ICIEA.2012.6360779. Agosto de 2015.
A. Arango, H. Satizábal y H. Correa, “Diseño e Implementación de un Robot Móvil Hexápodo”, Revista Energía y Computación, vol. 12, pp. 1-7, 2004. [Online] Disponible en: http://hdl.handle.net/10893/1416. Agosto de 2015.
Y. Jung. “Tripod Gaits for Fault Tolerance of Hexapod Walking Machines with a Locked Joint Failure”, Revue Robotics and Automous Systems, vol. 52, pp. 180-189, 2005. [Online] Disponible en: 10.1016/j.robot.2005.04.002. Agosto de 2015.
J. Chen, and F. Lan, “Instantaneous Stiffness Analysis and Simulation for Hexapod Machines”, Revue Simulation Modelling Practice and Theory, vol. 16, pp.419-428, 2008. [Online] Disponible en:
1016/j.simpat.2008.01.003. Agosto de 2015.
S. Olaru and M. Nitulescu, “Stability Analysis Software Platform Dedicated for a Hexapod Robot”, Revue Advances in intelligent Control Systems and Computer Science, vol. 187, pp.143-156, 2013. [Online] Disponible en: 10.1007/978-3-642-32548-9_11. Agosto de 2015.
G. Carbone, A. Yatsun, S. Yatsun and M. Ceccarelli. “Design and Simulation of Cassino Hexapod Robot”. In 2009 13th WSEAS International Conference on SYSTEMS, pp. 301-307. [Online] Disponible en: http://www.wseas.us/e-library/conferences/2009/rodos/SYSTEMS/SYSTEMS42.pdfAgosto de 2015.
Downloads
Published
How to Cite
Issue
Section
License
In accordance with national and international copyrights, as well as publishing policies of "Fundación Universitaria Luis Amigó" and its Journal "Lámpsakos" (indexed with ISSN : 2145-4086), I (we ) hereby manifest:1. The desire to participate as writers and submit to the rules established by the magazine publishers.
2. The commitment not to withdraw the manuscript until the journal finishes the editing process of the ongoing issue.
3. That article is original and unpublished and has not been nominated or submitted together in another magazine; therefore, the rights of the article in evaluation have not been assigned in advance and they do not weigh any lien or limitation for use.
4. The absence of conflict of interest with commercial institution or association of any kind
5. The incorporation of the quotes and references from other authors, tending to avoid plagiarism. Accordingly, the author affirms that the paper being published do not violate copyright, intellectual property or privacy rights of third parties. Morover, if necessary there is a way of demonstrating the respective permits original copyright to the aspects or elements taken from other documents such as texts of more than 500 words, tables, graphs, among others. In the event of any claim or action by a third party regarding copyright on the article, the author (s) will assume full responsibility and come out in defense of the rights herein assigned. Therefore, for all purposes, the Journal "Lámpsakos" of the "Fundación Universitaria Luis Amigó" acts as a third party in good faith.
6. In the event of the publication of the article, the authors free of charge and on an exclusive basis the integrity of the economic rights and the right to print, reprint and reproduction in any form and medium, without any limitation as to territory is concerned, in favor of the Journal "Lámpsakos" of the "Fundación Universitaria Luis Amigó".
