Hexapod Robot Link
Showing posts with label 6 legged robot. Show all posts
Showing posts with label 6 legged robot. Show all posts
Wednesday, February 04, 2009
Friday, January 02, 2009
Hexapod Robot 5
Hexapod Robot 18 RC servomotors
Robot I
This is a hexapod robot powered by 18 RC servomotors.
The degree of freedom of each leg is 3. I built this robot to
study the control software for 6 legged locomotion.This robot
The degree of freedom of each leg is 3. I built this robot to
study the control software for 6 legged locomotion.This robot
can walk toward every direction, but the maximum
speed of progress depends on the direction. This robot is
equipped with radio control transmitter and can accept
control by radio. In develop configuration, this robot is
connected to PC's parallel port and control from PC with
umbilical cable.
http://www2.plala.or.jp/k_y_yoshino/6legs/6legs_top_e.html
The Autonomous/RC crawling 6 legged robot
speed of progress depends on the direction. This robot is
equipped with radio control transmitter and can accept
control by radio. In develop configuration, this robot is
connected to PC's parallel port and control from PC with
umbilical cable.
http://www2.plala.or.jp/k_y_yoshino/6legs/6legs_top_e.html
The Autonomous/RC crawling 6 legged robot
Prototyping the Autonomous/RC crawling 6 legged robot with 14 RC servo
By Thomas Scherrer OZ2CPU.
http://www.webx.dk/robot-crawler/robot-crawler.htm
Prototyping Folded Robots
http://www.webx.dk/robot-crawler/robot-crawler.htm
Prototyping Folded Robots
Even with the SCM process, very small robots can be difficult to
design and build. Their size makes assembly challenging and the
design and build. Their size makes assembly challenging and the
inherent difficulty of designing a 3 dimensional folded robot in
a 2 dimensional drawing also slows the process. To avoid costly
errors in the early stages of design when many ideas will be tested
and discarded, we created a scaled analog to the SCM process
using commonly available materials. This scaled process lets the
folded robot designer go from a design on paper to a functional
scaled prototype in as little as 20 minutes. Rapid iteration alleviates
the risk of committing to a design and fabricating at the small scale
too soon. Instead, the designer is free to explore a variety of ideas
at the larger scale, discarding the unsuccessful attempts and rapidly
errors in the early stages of design when many ideas will be tested
and discarded, we created a scaled analog to the SCM process
using commonly available materials. This scaled process lets the
folded robot designer go from a design on paper to a functional
scaled prototype in as little as 20 minutes. Rapid iteration alleviates
the risk of committing to a design and fabricating at the small scale
too soon. Instead, the designer is free to explore a variety of ideas
at the larger scale, discarding the unsuccessful attempts and rapidly
integrating lessons learned in the process to produce a design that is
much more likely to succeed at the small scale.
http://robotics.eecs.berkeley.edu/~ronf/Prototype/
http://robotics.eecs.berkeley.edu/~ronf/Prototype/
Robot I
Robot I was the group's first project. The robot has six two degree of
freedom legs powered by 2 Watt DC motors that permitted straight line
locomotion on flat terrain. It was initially constructed to test a biologically-
inspired neural network controller developed by R. D. Beer and H. J. Chiel
for a computer simulated insect. With the stimulation of a single command
neuron, the network generated a range of insect-like gaits. The controller
also proved to be robust to perturbations
http://biorobots.cwru.edu/Projects/robot1/robot1.htm
freedom legs powered by 2 Watt DC motors that permitted straight line
locomotion on flat terrain. It was initially constructed to test a biologically-
inspired neural network controller developed by R. D. Beer and H. J. Chiel
for a computer simulated insect. With the stimulation of a single command
neuron, the network generated a range of insect-like gaits. The controller
also proved to be robust to perturbations
http://biorobots.cwru.edu/Projects/robot1/robot1.htm
Friday, December 26, 2008
Hexapod Robot III
MHEX II Walking Hexapod
Hexapod - Build Blog
Mhex II is an omnidirectional hexapod (6 legged) walking robot.
Each leg has 3 motors which allow the feet to be placed
anywhere in 3D space within mechanical limits. Unlike my first
hexapod robot (MHEX), this configuration allows the robot
to walk in any direction keeping it's feet fixed at a point on
ground without slipping.
http://mikael.geekland.org/
An 18-DOF hexapod robot developed at the University of Florence
Each leg has 3 motors which allow the feet to be placed
anywhere in 3D space within mechanical limits. Unlike my first
hexapod robot (MHEX), this configuration allows the robot
to walk in any direction keeping it's feet fixed at a point on
ground without slipping.
http://mikael.geekland.org/
An 18-DOF hexapod robot developed at the University of Florence
An 18-DOF hexapod robot was complete designed and
developed at the University of Florence by Andrea Foschi in
2005. It was later tamed by Marco Natalini and Alessandro
Mambelli using Evidence Srl's FLEX Light board and ERIKA
kernel. The main purpose for adopting FLEX is due
to its low-cost development kit that permits easy addition
of features i.e. sensors and behaviour. Since then, a number
of students have worked on this hexapod. The future version
would use the FLEX Full board.
http://www.evidence.eu.com/content/view/261/266/
developed at the University of Florence by Andrea Foschi in
2005. It was later tamed by Marco Natalini and Alessandro
Mambelli using Evidence Srl's FLEX Light board and ERIKA
kernel. The main purpose for adopting FLEX is due
to its low-cost development kit that permits easy addition
of features i.e. sensors and behaviour. Since then, a number
of students have worked on this hexapod. The future version
would use the FLEX Full board.
http://www.evidence.eu.com/content/view/261/266/
Hexapod - Build Blog
Our design for the first hexapod is simple. It is supposed
to be a prototype for a more complex robot that we will
build this fall. The design includes three servos per leg.
One servo will rotate the leg while the other two perform
the functions of a hip and a knee.
to be a prototype for a more complex robot that we will
build this fall. The design includes three servos per leg.
One servo will rotate the leg while the other two perform
the functions of a hip and a knee.
Stiquito is a small, inexpensive hexapod (i.e., six-legged) robot.
Universities, high schools, and hobbyists have used
it since 1992. Stiquito is unique not only because it is so
inexpensive but also because its applications are almost limitless.
The propulsion in these robots is nitinol, an alloy actuator wire
that expands and contracts, roughly emulating the operation
of a muscle. The application of heat causes a crystalline
structure change in the wire. Nitinol contracts when heated
and returns to its original size and shape when cooled.
http://ourworld.compuserve.com/homepages/Stiquito/whatisstiquito.htm
it since 1992. Stiquito is unique not only because it is so
inexpensive but also because its applications are almost limitless.
The propulsion in these robots is nitinol, an alloy actuator wire
that expands and contracts, roughly emulating the operation
of a muscle. The application of heat causes a crystalline
structure change in the wire. Nitinol contracts when heated
and returns to its original size and shape when cooled.
http://ourworld.compuserve.com/homepages/Stiquito/whatisstiquito.htm
Monday, December 22, 2008
Hexapod Robot II
Robot II
Robot II is a hexapod with three active, revolute degrees of
freedom (DOF) and one spring-loaded, translational DOF per leg.
Each active DOF is powered by a separate 6 Watt DC motor
with an integral transmission. The sensing of joint position is
accomplished by a rotary potentiometer attached to each joint.
Foot forces are monitored by load cells mounted on the tibia
segments. The structure of the body is composed of
lightweight aircraft plywood, balsa and aluminum.
http://biorobots.cwru.edu/Projects/robot2/robot2.htm
The SIL06 Walking Robot
freedom (DOF) and one spring-loaded, translational DOF per leg.
Each active DOF is powered by a separate 6 Watt DC motor
with an integral transmission. The sensing of joint position is
accomplished by a rotary potentiometer attached to each joint.
Foot forces are monitored by load cells mounted on the tibia
segments. The structure of the body is composed of
lightweight aircraft plywood, balsa and aluminum.
http://biorobots.cwru.edu/Projects/robot2/robot2.htm
The SIL06 Walking Robot
The SILO6 is a hexapod designed as the mobile platform of the DYLEMA project
intended to configure a system for detection and location of antipersonnel land mines.
Walking robots are intrinsically slow machines, and machine speed
is well known to depend theoretically on the number of legs the
machine has. Therefore, a hexapod can achieve higher speed
than a quadruped, and a hexapod achieves its highest speed
when using a wave gait with a duty factor of β = 1/2, that is, using
alternating tripods. Although stability is not optimum when using
alternating tripods, a hexapod configuration has been chosen just
to try to increase the machine’s speed. The walking-robot
development is based on certain subsystems developed for
the SILO-4 walking robot. The SILO4 is a quadruped robot
developed for basic research activities and educational purposes.
For this reason, this new walking robot is named SILO-6,
referring to its six legs.
http://www.iai.csic.es/users/silo6/SILO6_WalkingRobot.htm
Walking robots are intrinsically slow machines, and machine speed
is well known to depend theoretically on the number of legs the
machine has. Therefore, a hexapod can achieve higher speed
than a quadruped, and a hexapod achieves its highest speed
when using a wave gait with a duty factor of β = 1/2, that is, using
alternating tripods. Although stability is not optimum when using
alternating tripods, a hexapod configuration has been chosen just
to try to increase the machine’s speed. The walking-robot
development is based on certain subsystems developed for
the SILO-4 walking robot. The SILO4 is a quadruped robot
developed for basic research activities and educational purposes.
For this reason, this new walking robot is named SILO-6,
referring to its six legs.
http://www.iai.csic.es/users/silo6/SILO6_WalkingRobot.htm
Sprawlita
Sprawlita is a Shape Deposition Manufactured platform with six legs of 2 (actuated) DOF each. Based on the Sprawl 1.0 and Mini-Sprawl prototypes, it is a platform to test ideas about locomotion schemes, leg design and leg arrangement and to build compliant leg structures using SDM. The size is the same scale as Mini-Sprawl, with slightly more mass (270g vs. 250g) and less stiff compliant hip joints with only one (intended) degree of freedom.
http://www-cdr.stanford.edu/biomimetics/
http://www-cdr.stanford.edu/biomimetics/
BILL-Ant Series Robots
The Biologically-Inspired Legged Locomotion Ant (BILL-Ant) is an 18-DOF hexapod with six passive DOF feet for force sensing, a 3-DOF neck and actuated mandibles with force sensing pincer plates (28-DOF total). The robot uses force sensors in the feet and pincers to actively comply with its environment and respond to external pertubations.
http://biorobots.cwru.edu/projects/billant/
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