Abstract
This paper presents the simulation of different gaits of an hexapodal robot when it is traversing a range
of terrains with various geometries. At first, the specific architecture of the robot considered here and its
components are described. Then, to prepare for the real life implementation of a gait algorithm on this
robot, simulations are run to establish its capability to efficiently traverse terrains. To this aim, the robot
as well as various terrains are implemented on a robotic software package, namely CoppeliaSim. How the
software works and in particular the specificity of the selected physics engine are briefly discussed. Then, a
gait algorithm is proposed for which an exact solution to the inverse kinematic problem exist. Subsequently,
simulations are performed and results discussed. The main metric used in this paper to measure the perfor-
mance of the gait is the energetic cost of travel from two fixed points. This metric is used to deduce optimal
geometric parameters of the gait, i.e. body and step heights as well as the radius of the contact circle of the
feet on the ground. The main terrains simulated in this work are a flat surface and an inclined plane. The lat-
ter is used to evaluate the maximal angle of the slope that the robot can safely climb. However, another final
simulated terrain consisting of a rough random surface, mimicking a rocky terrain, is also used to illustrate
the limits of a fixed gait algorithm.
of terrains with various geometries. At first, the specific architecture of the robot considered here and its
components are described. Then, to prepare for the real life implementation of a gait algorithm on this
robot, simulations are run to establish its capability to efficiently traverse terrains. To this aim, the robot
as well as various terrains are implemented on a robotic software package, namely CoppeliaSim. How the
software works and in particular the specificity of the selected physics engine are briefly discussed. Then, a
gait algorithm is proposed for which an exact solution to the inverse kinematic problem exist. Subsequently,
simulations are performed and results discussed. The main metric used in this paper to measure the perfor-
mance of the gait is the energetic cost of travel from two fixed points. This metric is used to deduce optimal
geometric parameters of the gait, i.e. body and step heights as well as the radius of the contact circle of the
feet on the ground. The main terrains simulated in this work are a flat surface and an inclined plane. The lat-
ter is used to evaluate the maximal angle of the slope that the robot can safely climb. However, another final
simulated terrain consisting of a rough random surface, mimicking a rocky terrain, is also used to illustrate
the limits of a fixed gait algorithm.
| Translated title of the contribution | Simulation de démarches d'un robot hexapode traversant différents terrains |
|---|---|
| Original language | English |
| Publication status | Published - Jun 2021 |
| Externally published | Yes |
| Event | 2021 Canadian Committee for the Theory of Machines and Mechanisms Symposium - Duration: 3 Jun 2021 → 4 Jun 2021 http://www.cctomm.ca/proceedings-2021_en.php |
Conference
| Conference | 2021 Canadian Committee for the Theory of Machines and Mechanisms Symposium |
|---|---|
| Abbreviated title | 2021 CCToMM M3 Symposium |
| Period | 3/06/21 → 4/06/21 |
| Internet address |