Biologically inspired self-reconfigurable hexapod with adaptive locomotion

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dc.contributor.authorAmmar Akhlaq
dc.contributor.authorAyesha Umber
dc.contributor.authorJameel Ahmad
dc.date.accessioned2015-01-28T16:20:53Z
dc.date.available2015-01-28T16:20:53Z
dc.date.issued2014
dc.description.abstractThis paper describes the implementation of biologically inspired self-reconfigurable control system for a multivariable hexapod robot having gait switching ability. It focuses on the control; based on forward and inverse kinematics for systematic locomotion and navigation of robot. Electronic system have the capabilities to measure physical variables. Force and pressure sensors are mounted on each end of the leg to provide the necessary sense of touch. The paper also explains the reconfiguration ability of the robot in case of any damage to its leg and its capacity to change the walking pattern according to the malfunction caused. The system implementation using multiple microcontrollers in master-slave configuration to produce and control 18 DOF is also shown in the paper.en_US
dc.identifier.citationAkhlaq, A., Ahmad, J., & Umber, A. (2014). Biologically inspired self-reconfigurable hexapod with adaptive locomotion. Paper presented at the Power Electronics and Motion Control Conference and Exposition (PEMC), 2014 16th International.en_US
dc.identifier.urihttps://escholar.umt.edu.pk/handle/123456789/1401
dc.language.isoenen_US
dc.publisher16th International Power Electronics and Motion Control Conference and Expositionen_US
dc.subjectHexapod roboten_US
dc.subject18 DOF motionen_US
dc.subjectbiologically inspired roboten_US
dc.subjectmultiple gait roboten_US
dc.subjectnavigation of hexapoden_US
dc.subjectkinematics and inverse kinematics for hexapoden_US
dc.titleBiologically inspired self-reconfigurable hexapod with adaptive locomotionen_US
dc.typeArticleen_US
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