Print Email Facebook Twitter Kinematic Analysis and Application to Control Logic Development for RHex Robot Locomotion Title Kinematic Analysis and Application to Control Logic Development for RHex Robot Locomotion Author Burzyński, Piotr (Bialystok University of Technology) Pawłuszewicz, Ewa (Bialystok University of Technology) Ambroziak, Leszek (Bialystok University of Technology) Sharma, Suryansh (TU Delft Networked Systems) Date 2024 Abstract 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. Subject C-legged hexapodmobile robotwalking robotkinematics modelingsimulation To reference this document use: http://resolver.tudelft.nl/uuid:137ced4a-b7c4-427b-b699-c31ee2a3fcd6 DOI https://doi.org/10.3390/s24051636 ISSN 1424-8220 Source Sensors, 24 (5) Bibliographical note This article belongs to the Special Issue Mobile Robots: Navigation, Control and Sensing. Part of collection Institutional Repository Document type journal article Rights © 2024 Piotr Burzyński, Ewa Pawłuszewicz, Leszek Ambroziak, Suryansh Sharma Files PDF sensors-24-01636-v2.pdf 9.51 MB Close viewer /islandora/object/uuid:137ced4a-b7c4-427b-b699-c31ee2a3fcd6/datastream/OBJ/view