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Locomotion performance of hexapod robots on rough substrates and the influence of leg compliance

  • Author(s): Bhattacharyya, Amartya
  • Advisor(s): Gravish, Nicholas G
  • et al.
Abstract

ABSTRACT OF THE THESIS

Locomotion performance of hexapod robots on rough substrates and the influence of leg compliance

by

Amartya Bhattacharyya Master of Science in Engineering Sciences (Mechanical Engineering)

University of California San Diego, 2019

Professor Nicholas Gravish, Chair

Hexapod Robots are a complex system where six legs are connected to the main body which acts as a support frame. A lot of research has been performed in this field from the study of six legged insects to present day implementations where the robot uses its own decision making network. The motivation for this field are the various advantages that hexapedal robots provide like; Obstacle climbing capability, omnidirectional motion, variable geometry, stability, access to uneven terrain etc. At the same time they also have many disadvantages like low energy efficiency, low speeds, complexity of operation and design and especially a lot of attention has to be given to path and gait planning. Therefore, in this paper we

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use an open loop platform for our robot and test the performance on simulated rough substrates. Using the results we propose a compliant leg design which will improve the performance while maintaining the stability. We compare the new design with solid legs to quantify the gain. And also test for the shear force limits to make sure the design is ready to be tested on a robot for full length runs. With a goal to utilize the new design and simplify the requirements of complicated neural networks for gait planning.

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