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Volume 24
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10.3390/s24051636
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Article

Kinematic Analysis and Application to Control Logic Development for RHex Robot Locomotion

by
Piotr Burzyński
1,
Ewa Pawłuszewicz
1,
Leszek Ambroziak
1 and
Suryansh Sharma
2,*
1
Department of Industrial Process Automation, Faculty of Mechanical Engineering, Bialystok University of Technology, Wiejska 45C, 15-351 Bialystok, Poland
2
Networked Systems Group, Delft University of Technology, Building 28, Van Mourik Broekmanweg 6, 2628 XE Delft, The Netherlands
*
Author to whom correspondence should be addressed.
Sensors 2024, 24(5), 1636; https://doi.org/10.3390/s24051636
Submission received: 8 February 2024 / Revised: 27 February 2024 / Accepted: 28 February 2024 / Published: 2 March 2024
(This article belongs to the Special Issue Mobile Robots: Navigation, Control and Sensing)
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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.
Keywords: C-legged hexapod; mobile robot; walking robot; kinematics modeling; simulation C-legged hexapod; mobile robot; walking robot; kinematics modeling; simulation

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MDPI and ACS Style

Burzyński, P.; Pawłuszewicz, E.; Ambroziak, L.; Sharma, S. Kinematic Analysis and Application to Control Logic Development for RHex Robot Locomotion. Sensors 2024, 24, 1636. https://doi.org/10.3390/s24051636

AMA Style

Burzyński P, Pawłuszewicz E, Ambroziak L, Sharma S. Kinematic Analysis and Application to Control Logic Development for RHex Robot Locomotion. Sensors. 2024; 24(5):1636. https://doi.org/10.3390/s24051636

Chicago/Turabian Style

Burzyński, Piotr, Ewa Pawłuszewicz, Leszek Ambroziak, and Suryansh Sharma. 2024. "Kinematic Analysis and Application to Control Logic Development for RHex Robot Locomotion" Sensors 24, no. 5: 1636. https://doi.org/10.3390/s24051636

APA Style

Burzyński, P., Pawłuszewicz, E., Ambroziak, L., & Sharma, S. (2024). Kinematic Analysis and Application to Control Logic Development for RHex Robot Locomotion. Sensors, 24(5), 1636. https://doi.org/10.3390/s24051636

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