Design and Experimental Development of Hexapod Robot with Fiberglass-Fibercarbon Composite Legs

Over the last few years, the universal number of legged robots has increased astonishingly in outdoor environments. In this paper, the design, and control of a new RHex robot named IRHex with innovative Fiberglass-Fiber carbon composite legs are described. IRHex is a six-legged robot_one actuator lo...

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Bibliographic Details
Main Authors: Kebritchi, Amirreza, Havashinezhadian, Sara, Rostami, Mostafa
Format: Conference Proceeding
Language:English
Subjects:
Aluminum
Carbon
composite legs
Fiberglass-Fiber carbon composite
Hexapod
Legged locomotion
legged robot
Optical fiber testing
Robot sensing systems
six-legged robot
Torque
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Summary:Over the last few years, the universal number of legged robots has increased astonishingly in outdoor environments. In this paper, the design, and control of a new RHex robot named IRHex with innovative Fiberglass-Fiber carbon composite legs are described. IRHex is a six-legged robot_one actuator located at each hip_achieving mechanical uncomplicatedness that provides a reliable performance. In this investigation, the new material used for building IRHex legs was discovered after several tests on the effect of sequence and orientation of laminates in the composite. IRHex achieves robust locomotion using a computer board analyzing the data sent by the sensors and communicating to the ground station even from far distances.
ISSN:2572-6889
DOI:10.1109/ICRoM.2018.8657521