Abstract
The static stability of hexapods motivates their design for tasks in which stable locomotion is required, such as navigation across complex environments. This task is of high interest due to the possibility of replacing human beings in exploration, surveillance and rescue missions. For this application, the control system must adapt the actuation of the limbs according to their surroundings to ensure that the hexapod does not tumble during locomotion. The most traditional approach considers their limbs as robotic manipulators and relies on mechanical models to actuate them. However, the increasing interest in model-free models for the control of these systems has led to the design of novel solutions. Through a systematic literature review, this paper intends to overview the trends in this field of research and determine in which stage the design of autonomous and adaptable controllers for hexapods is.
Highlights
The static stability of hexapods motivates their design for tasks in which stable locomotion is required, such as navigation across complex environments
This paper aims at providing insight into the control of hexapods and current trends implemented in these systems and emphasize the potential that these robots have for navigating in complex environments
The static stability of hexapods motivates their design for tasks in complex environments, relying on the autonomy of their control systems to replace humans in hazardous environments
Summary
The static stability of hexapods motivates their design for tasks in which stable locomotion is required, such as navigation across complex environments. The legged solutions are adequate for walking across complex environments due to their discrete footholds and capability of generating trajectories in arbitrary directions [3,4] From this type of robot, insect-inspired systems have been studied to navigate autonomously in complex environments because of their inherent static stability, which is the capacity for keeping the body stable and upright when only reaction forces are applied to the system [2,5]. Their over-actuated design allows the generation of different gait patterns, which can potentially increase their adaptability to the environment [6]. This type of control relies on the correct definition of the mathematical models of the robot to evaluate the influence of the surroundings in its internal state [7]
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