Hexapod Robot I

Mike Smyth's Hexapod Robot

This is my autonomous hexapod robot that I built a few years ago.
It uses 12 R/C servos for actuators. The 6 that raise and lower
the legs are Hobbico CS-72 1/4 scale and the 6 that move the legs
forward and backward are several brands of standard 1/10
scale servoshttp://home.ctlnet.com/~robotguy67/hexapod/hexapod.htm

Robot III

a hexapod with kinematics based on studies of the cockroach
Blaberus discoidalis performed in the Ritzmann Lab in theBiology Department at CWRU. It has a total of 24 degrees of freedom
with five for each front leg, four for the middle legs and three for the rear
legs. The robot is pneumatically actuated using off the shelf cylinders and
blocks of three-way pneumatic valves. Pulse width modulation of the
valves is implemented for variable position control of the cylinders.
The structure of the robot is machined from high grade aluminum alloys.http://biorobots.cwru.edu/projects/robot3/robot3.htm

Bio-Robotic Choreography

The 6-legged robot will use a pentagraph mechanism where the
movement of the foot is mirrored by the joint at opposite end. The
effect is that the robot is hanging from a virtual pendulum in the sky.
This will help the robot to stay on it's feet. Stationary it will be nearly
5 metres across and measure 2 metres from knee to foot.
The designers are hoping to limit the weight to less than 250 kgs.http://ahds.ac.uk/performingarts/collections/sci-art/design.htm

Rhex

RHex is a small, power and computationally autonomous hexapod
robot with passively compliant legs. Its basic design incorporates
only one actuator per leg, capable of achieving fast (~2.5m/s)
and robust locomotion over complex outdoor terrain. As a result
of the minimal use of exteroceptive sensing, most of its behaviors
are task-level open loop, driven by an internal clock. These basic
behaviors rely on a human operator for more complicated
tasks such as navigation.http://www.cs.bilkent.edu.tr/~saranli/research/rhex.html

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Hexapod Robot Index

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Hexapod Robot

Hexapod Robot Link

• Hexapod Robot 1
• Hexapod Robot 2
• Hexapod Robot 3
• Hexapod Robot 4
• Hexapod Robot 5

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Wall-climbing Robot 1

Electroadhesive Robots
Enabling wall-climbing robots for security/military,
inspection, and service applications
Electroadhesion offers advantages over other types of technologies
for wall climbing, including robust clamping over a variety of surfaces
(rough or smooth, conductive or insulating), low power, resistance
to dust, and fast, electrically controllable clamping and unclamping
. Thus, electroadhesion lends itself to a variety of wall-climbing
robots. Tracked "tank" type wall-climbing robots, as well as more
biomimetic inchworm-type robots, have been successfully
demonstrated to date using this technology. Other
advantages of electroadhesion include its non-damaging
nature, and lightweight, which is crucial in wall-climbing applications.http://www.sri.com/rd/electroadhesion.html

NINJA-I, -II
Quadruped Wall Climbing Robot "NINJA-I, -II"

NINJA-I (1990-1993), NINJA-II (1994-). It is dangerous to inspect
and perform all the operations on the exterior walls of high rise
buildings and of the land bridges on high speed thoroughfares.
It also requires a great deal of expense in order to install the
needed scaffolding. NINJA is a wall climbing robot developed for
the purpose of automating this kind of operation. Units No. 1 and
2 of both have a height of nearly 1.8 m , a left/right width of
0.5 meters, a thickness of 0.4 meters, and a main body weight of
45 kg. All the legs of NINJA-I, as in Fig. 2, are driven by three
prismatic joint actuators in parallel mechanisms. They are oriented
to the direction of gravity as much as possible at all times, and
manifest th e effectiveness of "coupled drive (a drive method which
plans on making high output performance as a system by
cooperatively utilizing as much as possible all actuators that are
installed)". The feet are compliant to the wall surface while being
oriented at all times in the same direction as the body by a new
parallel movement mechanism which utilizes conduit wires.
The NINJA-II expands the reachable area of this foot mechanism
by inserting articulated joints.more
Wall-Climbing Robot Spies at ICRA 2008

Stanford's Stickybot, a wall-climbing robot that uses
gecko-inspired directional adhesives on its feet. Photo:
Stanford Universitymore

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Wall-climbing Robot 2

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Jumping Robot 1

AirHopper
we will develop the jumping locomotion robot in this research.
This jumping robot can move around the disaster areas where there
are many high steps and obstacles that cannot overcome previous
walking robot, shown in Fig. 1. This developed jumping robot has
both high terrain adaptability and mobility.
more

Jumping Robot Prototype at Stanford

During the fabrication of the prototype we had to take into account
several restrictions on the weight and room of the components.
This constraints were imposed by the presence of the flight phase
in the jump.

The robot has two parallel frames, on the right and left hand side,
which are used to keep the motor, the cam shaft and the legs in
place (see picture). In this way it is easy to assembly and
dis-assembly the robot, and the cam and the legs have room to
rotate in the inner part of the robot. Shafts rigidly connecting
the two parallel frames keeps the whole robot firmly resistant
to impacts occurring at every step. This initially was one of
the main problem in making the prototype work, together
with the friction forces

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Micro-Cricket Series Robots

Biomimetic research at Case Western Reserve University

Our cricket microrobot is being developed by an interdisciplinary
team of faculty and students as part of the DARPA Distributed
Robotics (DR) program. A "micro-robot" is no larger than
5 cm in any dimension. Our robot will locomote by both walking
and jumping and its design is based upon crickets.
http://biorobots.cwru.edu/projects/c_mrobot/c_mrobot.htm

Jumping Robot 2

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2 Legs Robot 4

Biped Robot (FKS1)
Redesign and built the sole and lower portion of the legs. I also
repositioned the legs so that the separation become smaller,
ensure better stability. Painted the machine to make it looks more
professional. All the electronics have now been ported to
surface-mounted components platform, thus reducing the overall
weigth. The machine can now walk continuosly, albeit a little bit
shaky at times. Nevertheless I have not installed any Sensors yet.
In the process of selecting suitable Sensors and designing the
electronic circuitry. Moreover I am also upgrading the Robot's
software in my spare time.
http://pesona.mmu.edu.my/~wlkung/robot/robot.htm

Biped robot research at MEL

Walk of Meltran II. One step is 12cm and average walking speed
is about 0.5km/h. The strategy of control is to keep body height
constant at every moment of walking. This makes walking control
simpler than former walking control algorithms.
http://www.aist.go.jp/MEL/soshiki/robot/undo/kajita/biped-e.html

Mech 1.0

The mechanical design process was completed with Solidworks,
designed with only shapes that I knew were simple to machine using
extruded metals obtainable at the local hardware stores. As you can
see there are no feet, yet, but the first programming challenge will be
to write the algorithms that control each servo actuator to implement
the walking cycle.
http://www.rischenterprizes.com/mech.htm

Development of a walking robot model and its data-based
modeling and control

Walking robots offer challenging problems in the field of system
modeling and control. The mechanical structures of the walkers
are usually complex, being composed of many joint-connected
parts which impact also with the surrounding environment.
Therefore the mathematical models easily appear to be highly
nonlinear and high-dimensional preventing the effective use of
traditional modeling and control methods.
http://www.control.hut.fi/Publications/Haavisto-2004/

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