research-article

The System Design and Gait Planning for Walking-Climbing Hexapod

Authors:

Wu Wei,

Jinquan Sun,

Yong Gao,

Yao Yeboah,

Linqing HuangAuthors Info & Claims

ICIAI '19: Proceedings of the 2019 3rd International Conference on Innovation in Artificial Intelligence

Pages 208 - 212

https://doi.org/10.1145/3319921.3319940

Published: 15 March 2019 Publication History

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Abstract

In this paper, a service hexapod robot named WeLCH is designed and implemented for the inspection of glass screen walls. To meet the deployment requirements, the structure design and hardware system construction of the walking-climbing hexapod robot are analyzed, and the accompanying software system is designed and implemented using the Robot Operating System (ROS). The gait planning of walking and climbing over vertical walls is studied and put forward. Finally, the reliability of the proposed system design and the validity of gait planning are verified through simulation on ROS and field testing using the live robot platform.

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Cited By

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Ullala SChalla YK R PR NChandar T(2024)Design of a Gecko Inspired End Effector for Multi-Terrain Legged Wall Climbing Robots2024 10th International Conference on Automation, Robotics and Applications (ICARA)10.1109/ICARA60736.2024.10553153(87-91)Online publication date: 22-Feb-2024
https://doi.org/10.1109/ICARA60736.2024.10553153
Gao YWang DWei WYu QLiu XWei Y(2022)Constrained Predictive Tracking Control for Unmanned Hexapod Robot with Tripod GaitDrones10.3390/drones60902466:9(246)Online publication date: 9-Sep-2022
https://doi.org/10.3390/drones6090246
Li DGao YWei WLiu X(2022)Terrain adaptation of hexapod robot based on ground detection and sliding mode controlProceedings of the 2022 5th International Conference on Robot Systems and Applications10.1145/3556267.3556271(59-65)Online publication date: 17-Jun-2022
https://dl.acm.org/doi/10.1145/3556267.3556271
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Index Terms

The System Design and Gait Planning for Walking-Climbing Hexapod
1. Computer systems organization
  1. Embedded and cyber-physical systems
    1. Robotics
      1. Robotic components

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Published In

ICIAI '19: Proceedings of the 2019 3rd International Conference on Innovation in Artificial Intelligence

March 2019

279 pages

ISBN:9781450361286

DOI:10.1145/3319921

Permission to make digital or hard copies of all or part of this work for personal or classroom use is granted without fee provided that copies are not made or distributed for profit or commercial advantage and that copies bear this notice and the full citation on the first page. Copyrights for components of this work owned by others than ACM must be honored. Abstracting with credit is permitted. To copy otherwise, or republish, to post on servers or to redistribute to lists, requires prior specific permission and/or a fee. Request permissions from [email protected]

In-Cooperation

Xi'an Jiaotong-Liverpool University: Xi'an Jiaotong-Liverpool University
University of Texas-Dallas: University of Texas-Dallas

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Association for Computing Machinery

New York, NY, United States

Publication History

Published: 15 March 2019

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Research-article
Research
Refereed limited

Funding Sources

Science and Technology Planning Project of Guangdong
the Science and Technology Planning Project of Guangzhou
NSFC

Conference

ICIAI 2019

ICIAI 2019: 2019 The 3rd International Conference on Innovation in Artificial Intelligence

March 15 - 18, 2019

Suzhou, China

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Cited By

View all

Ullala SChalla YK R PR NChandar T(2024)Design of a Gecko Inspired End Effector for Multi-Terrain Legged Wall Climbing Robots2024 10th International Conference on Automation, Robotics and Applications (ICARA)10.1109/ICARA60736.2024.10553153(87-91)Online publication date: 22-Feb-2024
https://doi.org/10.1109/ICARA60736.2024.10553153
Gao YWang DWei WYu QLiu XWei Y(2022)Constrained Predictive Tracking Control for Unmanned Hexapod Robot with Tripod GaitDrones10.3390/drones60902466:9(246)Online publication date: 9-Sep-2022
https://doi.org/10.3390/drones6090246
Li DGao YWei WLiu X(2022)Terrain adaptation of hexapod robot based on ground detection and sliding mode controlProceedings of the 2022 5th International Conference on Robot Systems and Applications10.1145/3556267.3556271(59-65)Online publication date: 17-Jun-2022
https://dl.acm.org/doi/10.1145/3556267.3556271
Gao YWei WWang XWang DLi YYu Q(2022)Trajectory tracking of multi-legged robot based on model predictive and sliding mode controlInformation Sciences: an International Journal10.1016/j.ins.2022.05.069606:C(489-511)Online publication date: 1-Aug-2022
https://dl.acm.org/doi/10.1016/j.ins.2022.05.069
Gao YWei WWang XLi YWang DYu Q(2021)Feasibility, planning and control of ground-wall transition for a suctorial hexapod robotApplied Intelligence10.1007/s10489-020-01955-251:8(5506-5524)Online publication date: 1-Aug-2021
https://dl.acm.org/doi/10.1007/s10489-020-01955-2

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Comparative Study of Forward-Flapping of Hexapod Robot and Quadruped-Propulsive Gait