3 documents found, page 1 of 1
On the hexapod Robot's gait optimization: A dynamic perspective on the limbs ac...
Coelho, Joana Sofia Falcato Pereira Lima; Marques, Filipe; Dias, Bruno; Lopes, Gil; Flores, Paulo[Excerpt] It is known that in hexapod robots, the feet’s trajectory is the key feature for generating efficient gait. The kinematic parameters of the feet’s motion, such as the bodies’ velocity when reaching the trajectory’s posterior extreme position, can significantly affect the interaction between the foot and the ground, and consequently, the limb’s actuation. In the literature, common strategies to improve...
Development and implementation of a new approach for posture control of a hexap...
Coelho, Joana Sofia Falcato Pereira Lima; Dias, Bruno; Lopes, Gil; Ribeiro, A. Fernando; Flores, PauloThe 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 stud...
Multibody dynamics in robotics with focus on contact events
Silva, Mariana Isabel Santos Rodrigues; Coelho, Joana Sofia Falcato Pereira Lima; Gonçalves, Fernando; Novais, Francisco; Flores, PauloMultibody dynamics methodologies have been fundamental tools utilized to model and simulate robotic systems that experience contact conditions with the surrounding environment, such as in the case of feet and ground interactions. In addressing such problems, it is of paramount importance to accurately and efficiently handle the large body displacement associated with locomotion of robots, as well as the dynamic...