In April 2016 Manchester eScholar was replaced by the University of Manchester’s new Research Information Management System, Pure. In the autumn the University’s research outputs will be available to search and browse via a new Research Portal. Until then the University’s full publication record can be accessed via a temporary portal and the old eScholar content is available to search and browse via this archive.

Related resources

University researcher(s)

    Academic department(s)

      Advanced Motions for Hexapods

      Cheah, Wei Chen

      [Thesis]. Manchester, UK: The University of Manchester; 2019.

      Access to files

      Abstract

      Mobile robots are able to access hazardous and constricted environment, otherwise impossible for humans, to carry out remote inspection, monitoring, and intervention missions. Legged robots, especially hexapods, provide greater mobility and stability in unstructured environment compared to wheeled robots. However, the motion of hexapods are typically confined to the ground plane, limiting the accessibility of the robot in areas that do not accommodate the footprint of the robot. This research aims to address this limitation by investigating the use of non-planar surface on hexapods. Motions utilising footholds on walls are termed advanced motions in this research. A set of kinematic motion primitives for the five advanced motions considered, namely chimney, chimney corner, wall, wall convex corner and wall concave corner, and the corresponding transitions are first developed. These primitives are then used by the motion planners, namely a grid-based and heuristic planner. The proposed hierarchical grid-based planning framework extends existing approaches to use wall surfaces with the inclusion of the wall and chimney walking primitive. The kinematic primitives analysed for 90 degree corners are used to generate the heuristic motion planner for navigating such corners using chimney and wall walking. Both these motion planners have been verified in simulation. The resulting paths shows the feasibility of using advanced motions in accessing areas previously thought to be inaccessible and for navigating corners. The kinematic motion primitives developed show that advanced motions are kinematically viable for the standard hexapod design with three Degrees of Freedom per leg. The quasi-static motion of chimney walking and wall transition are analysed to identify the joint requirement for executing such motions. The analysis has been verified through a series of experiments demonstrating that a hexapod with a standard design is capable of executing advanced motions.

      Additional content not available electronically

      A set of videos showing the robot executing advanced motions for semi-static poses and corners.

      Bibliographic metadata

      Type of resource:
      Content type:
      Form of thesis:
      Type of submission:
      Degree type:
      Doctor of Philosophy
      Degree programme:
      PhD Electrical and Electronic Engineering
      Publication date:
      Location:
      Manchester, UK
      Total pages:
      189
      Abstract:
      Mobile robots are able to access hazardous and constricted environment, otherwise impossible for humans, to carry out remote inspection, monitoring, and intervention missions. Legged robots, especially hexapods, provide greater mobility and stability in unstructured environment compared to wheeled robots. However, the motion of hexapods are typically confined to the ground plane, limiting the accessibility of the robot in areas that do not accommodate the footprint of the robot. This research aims to address this limitation by investigating the use of non-planar surface on hexapods. Motions utilising footholds on walls are termed advanced motions in this research. A set of kinematic motion primitives for the five advanced motions considered, namely chimney, chimney corner, wall, wall convex corner and wall concave corner, and the corresponding transitions are first developed. These primitives are then used by the motion planners, namely a grid-based and heuristic planner. The proposed hierarchical grid-based planning framework extends existing approaches to use wall surfaces with the inclusion of the wall and chimney walking primitive. The kinematic primitives analysed for 90 degree corners are used to generate the heuristic motion planner for navigating such corners using chimney and wall walking. Both these motion planners have been verified in simulation. The resulting paths shows the feasibility of using advanced motions in accessing areas previously thought to be inaccessible and for navigating corners. The kinematic motion primitives developed show that advanced motions are kinematically viable for the standard hexapod design with three Degrees of Freedom per leg. The quasi-static motion of chimney walking and wall transition are analysed to identify the joint requirement for executing such motions. The analysis has been verified through a series of experiments demonstrating that a hexapod with a standard design is capable of executing advanced motions.
      Additional digital content not deposited electronically:
      A set of videos showing the robot executing advanced motions for semi-static poses and corners.
      Thesis main supervisor(s):
      Thesis co-supervisor(s):
      Language:
      en

      Institutional metadata

      University researcher(s):
      Academic department(s):

        Record metadata

        Manchester eScholar ID:
        uk-ac-man-scw:322617
        Created by:
        Cheah, Wei
        Created:
        26th November, 2019, 14:09:16
        Last modified by:
        Cheah, Wei
        Last modified:
        23rd December, 2019, 12:17:28

        Can we help?

        The library chat service will be available from 11am-3pm Monday to Friday (excluding Bank Holidays). You can also email your enquiry to us.