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Sensors 2017, 17(12), 2710; doi:10.3390/s17122710

Turning and Radius Deviation Correction for a Hexapod Walking Robot Based on an Ant-Inspired Sensory Strategy

1
Key Laboratory of Road Construction Technology and Equipment of MOE, Chang’an University, Xi’an 710064, China
2
State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou 310028, China
3
School of information Engineering, Chang’an University, Xi’an 710064, China
*
Author to whom correspondence should be addressed.
Received: 10 October 2017 / Revised: 11 November 2017 / Accepted: 20 November 2017 / Published: 23 November 2017
(This article belongs to the Special Issue Smart Sensors for Mechatronic and Robotic Systems)
View Full-Text   |   Download PDF [7102 KB, uploaded 27 November 2017]   |  

Abstract

In order to find a common approach to plan the turning of a bio-inspired hexapod robot, a locomotion strategy for turning and deviation correction of a hexapod walking robot based on the biological behavior and sensory strategy of ants. A series of experiments using ants were carried out where the gait and the movement form of ants was studied. Taking the results of the ant experiments as inspiration by imitating the behavior of ants during turning, an extended turning algorithm based on arbitrary gait was proposed. Furthermore, after the observation of the radius adjustment of ants during turning, a radius correction algorithm based on the arbitrary gait of the hexapod robot was raised. The radius correction surface function was generated by fitting the correction data, which made it possible for the robot to move in an outdoor environment without the positioning system and environment model. The proposed algorithm was verified on the hexapod robot experimental platform. The turning and radius correction experiment of the robot with several gaits were carried out. The results indicated that the robot could follow the ideal radius and maintain stability, and the proposed ant-inspired turning strategy could easily make free turns with an arbitrary gait. View Full-Text
Keywords: ant-inspired; arbitrary gait; hexapod robot; turning; radius correction ant-inspired; arbitrary gait; hexapod robot; turning; radius correction
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MDPI and ACS Style

Zhu, Y.; Guo, T.; Liu, Q.; Zhu, Q.; Jin, B.; Zhao, X. Turning and Radius Deviation Correction for a Hexapod Walking Robot Based on an Ant-Inspired Sensory Strategy. Sensors 2017, 17, 2710.

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