Hexapod Robot Static Stability Enhancement using Genetic Algorithm

Abstract Hexapod robot is a flexible mechanical robot with six legs. It has the ability to walk over terrain. The hexapod robot look likes the insect so it has the same gaits. These gaits are tripod, wave and ripple gaits. Hexapod robot needs to stay statically stable at all the times during eac...

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Autores principales:	Firas A. Raheem, Hind Z. Khaleel
Formato:	article
Lenguaje:	EN
Publicado:	Al-Khwarizmi College of Engineering – University of Baghdad 2015
Materias:	Kinematics, Stability Margin, Workspace, Genetic Algorithm and Hexapod Robot. Chemical engineering TP155-156 Engineering (General). Civil engineering (General) TA1-2040
Acceso en línea:	https://doaj.org/article/a292124169f04878ba5dd489d6d1690a
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spelling	oai:doaj.org-article:a292124169f04878ba5dd489d6d1690a2021-12-02T04:46:21ZHexapod Robot Static Stability Enhancement using Genetic Algorithm1818-11712312-0789https://doaj.org/article/a292124169f04878ba5dd489d6d1690a2015-12-01T00:00:00Zhttp://alkej.uobaghdad.edu.iq/index.php/alkej/article/view/274https://doaj.org/toc/1818-1171https://doaj.org/toc/2312-0789 Abstract Hexapod robot is a flexible mechanical robot with six legs. It has the ability to walk over terrain. The hexapod robot look likes the insect so it has the same gaits. These gaits are tripod, wave and ripple gaits. Hexapod robot needs to stay statically stable at all the times during each gait in order not to fall with three or more legs continuously contacts with the ground. The safety static stability walking is called (the stability margin). In this paper, the forward and inverse kinematics are derived for each hexapod’s leg in order to simulate the hexapod robot model walking using MATLAB R2010a for all gaits and the geometry in order to derive the equations of the sub-constraint workspaces for each hexapod’s leg. They are defined as the sub-constraint workspaces volumes when the legs are moving without collision with each other and they are useful to keep the legs stable from falling during each gait. A smooth gait was analyzed and enhanced for each hexapod’s leg in two phases, stance phase and swing phase. The proposed work focused on the two approaches first, the modified classical stability margins. In this approach, the range of stability margins is evaluated for all gaits. The second method is called stability margins using Genetic Algorithm (GA) that enhanced the static stability by getting the best stability margins for hexapod robot and these results are useful to get best stable path planning of hexapod robot with smaller error than the first approach and with better new stable coordinates of legs tips than the first method. In addition, the second approach is useful for getting the better new stable center body coordinates than center body coordinates in the first approach of hexapod robot. Keywords: Kinematics, Stability Margin, Workspace, Genetic Algorithm and Hexapod Robot. Firas A. RaheemHind Z. KhaleelAl-Khwarizmi College of Engineering – University of BaghdadarticleKinematics, Stability Margin, Workspace, Genetic Algorithm and Hexapod Robot.Chemical engineeringTP155-156Engineering (General). Civil engineering (General)TA1-2040ENAl-Khawarizmi Engineering Journal, Vol 11, Iss 4 (2015)
institution	DOAJ
collection	DOAJ
language	EN
topic	Kinematics, Stability Margin, Workspace, Genetic Algorithm and Hexapod Robot. Chemical engineering TP155-156 Engineering (General). Civil engineering (General) TA1-2040
spellingShingle	Kinematics, Stability Margin, Workspace, Genetic Algorithm and Hexapod Robot. Chemical engineering TP155-156 Engineering (General). Civil engineering (General) TA1-2040 Firas A. Raheem Hind Z. Khaleel Hexapod Robot Static Stability Enhancement using Genetic Algorithm
description	Abstract Hexapod robot is a flexible mechanical robot with six legs. It has the ability to walk over terrain. The hexapod robot look likes the insect so it has the same gaits. These gaits are tripod, wave and ripple gaits. Hexapod robot needs to stay statically stable at all the times during each gait in order not to fall with three or more legs continuously contacts with the ground. The safety static stability walking is called (the stability margin). In this paper, the forward and inverse kinematics are derived for each hexapod’s leg in order to simulate the hexapod robot model walking using MATLAB R2010a for all gaits and the geometry in order to derive the equations of the sub-constraint workspaces for each hexapod’s leg. They are defined as the sub-constraint workspaces volumes when the legs are moving without collision with each other and they are useful to keep the legs stable from falling during each gait. A smooth gait was analyzed and enhanced for each hexapod’s leg in two phases, stance phase and swing phase. The proposed work focused on the two approaches first, the modified classical stability margins. In this approach, the range of stability margins is evaluated for all gaits. The second method is called stability margins using Genetic Algorithm (GA) that enhanced the static stability by getting the best stability margins for hexapod robot and these results are useful to get best stable path planning of hexapod robot with smaller error than the first approach and with better new stable coordinates of legs tips than the first method. In addition, the second approach is useful for getting the better new stable center body coordinates than center body coordinates in the first approach of hexapod robot. Keywords: Kinematics, Stability Margin, Workspace, Genetic Algorithm and Hexapod Robot.
format	article
author	Firas A. Raheem Hind Z. Khaleel
author_facet	Firas A. Raheem Hind Z. Khaleel
author_sort	Firas A. Raheem
title	Hexapod Robot Static Stability Enhancement using Genetic Algorithm
title_short	Hexapod Robot Static Stability Enhancement using Genetic Algorithm
title_full	Hexapod Robot Static Stability Enhancement using Genetic Algorithm
title_fullStr	Hexapod Robot Static Stability Enhancement using Genetic Algorithm
title_full_unstemmed	Hexapod Robot Static Stability Enhancement using Genetic Algorithm
title_sort	hexapod robot static stability enhancement using genetic algorithm
publisher	Al-Khwarizmi College of Engineering – University of Baghdad
publishDate	2015
url	https://doaj.org/article/a292124169f04878ba5dd489d6d1690a
work_keys_str_mv	AT firasaraheem hexapodrobotstaticstabilityenhancementusinggeneticalgorithm AT hindzkhaleel hexapodrobotstaticstabilityenhancementusinggeneticalgorithm
_version_	1718401065557164032

Hexapod Robot Static Stability Enhancement using Genetic Algorithm

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