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Hydraulically Actuated Hexapod Robots

Design, Implementation and Control

  • Book
  • © 2014

Overview

Authors:
  1. Kenzo Nonami

    1. Graduate School & Fuclty of Engineering, Chiba University, Chiba, Japan

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  2. Ranjit Kumar Barai

    1. Kolkata, India

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  3. Addie Irawan

    1. Universiti Malaysia Pahang, Pahang, Malaysia

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  4. Mohd Razali Daud

    1. Universiti Malaysia Pahang, Pahang, Malaysia

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  • Discusses the major control issues of walking robots that the authors have been faced with over the past 10 years
  • Is the first book to focus especially on very large hydraulically driven hexapod robot locomotion systems weighing more than 2,000 kg
  • Touches on many diverse topics including design aspects, implementation issues, navigation and control, walking and working tasks of hexapod robots, and the future of walking robots
  • Includes supplementary material: sn.pub/extras

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Table of contents (10 chapters)

  1. Front Matter

    Pages i-xiii
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  2. Introduction

    • Kenzo Nonami, Ranjit Kumar Barai, Addie Irawan, Mohd Razali Daud
    Pages 1-18

  3. Historical and Modern Perspective of Walking Robots

    • Kenzo Nonami, Ranjit Kumar Barai, Addie Irawan, Mohd Razali Daud
    Pages 19-40

  4. Design and Optimization of Hydraulically Actuated Hexapod Robot COMET-IV

    • Kenzo Nonami, Ranjit Kumar Barai, Addie Irawan, Mohd Razali Daud
    Pages 41-84

  5. Kinematics, Navigation, and Path Planning of Hexapod Robot

    • Kenzo Nonami, Ranjit Kumar Barai, Addie Irawan, Mohd Razali Daud
    Pages 85-104

  6. Position-Based Robust Locomotion Control of Hexapod Robot

    • Kenzo Nonami, Ranjit Kumar Barai, Addie Irawan, Mohd Razali Daud
    Pages 105-139

  7. Force-Based Locomotion Control of Hexapod Robot

    • Kenzo Nonami, Ranjit Kumar Barai, Addie Irawan, Mohd Razali Daud
    Pages 141-167

  8. Impedance Control and Its Adaptive for Hexapod Robot

    • Kenzo Nonami, Ranjit Kumar Barai, Addie Irawan, Mohd Razali Daud
    Pages 169-197

  9. Teleoperated Locomotion Control of Hexapod Robot

    • Kenzo Nonami, Ranjit Kumar Barai, Addie Irawan, Mohd Razali Daud
    Pages 199-235

  10. Fully Autonomous Locomotion Control of Hexapod Robot with LRF

    • Kenzo Nonami, Ranjit Kumar Barai, Addie Irawan, Mohd Razali Daud
    Pages 237-261

  11. Challenges and New Frontiers of Hydraulically Actuated Hexapod Robots

    • Kenzo Nonami, Ranjit Kumar Barai, Addie Irawan, Mohd Razali Daud
    Pages 263-269

  12. Back Matter

    Pages 271-277
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Keywords

About this book

Legged robots are a promising locomotion system, capable of performing tasks that conventional vehicles cannot. Even more exciting is the fact that this is a rapidly developing field of study for researchers from a variety of disciplines. However, only a few books have been published on the subject of multi-legged robots. The main objective of this book is to describe some of the major control issues concerning walking robots that the authors have faced over the past 10 years. A second objective is to focus especially on very large hydraulically driven hexapod robot locomotion weighing more than 2,000 kg, making this the first specialized book on this topic. The 10 chapters of the book touch on diverse relevant topics such as design aspects, implementation issues, modeling for control, navigation and control, force and impedance control-based walking, fully autonomous walking, walking and working tasks of hexapod robots, and the future of walking robots. The construction machines of the future will very likely resemble hydraulically driven hexapod robots like the ones described in this book – no longer science fiction but now a reality.

Authors and Affiliations

  • Graduate School & Fuclty of Engineering, Chiba University, Chiba, Japan

    Kenzo Nonami

  • Kolkata, India

    Ranjit Kumar Barai

  • Universiti Malaysia Pahang, Pahang, Malaysia

    Addie Irawan, Mohd Razali Daud

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