| Issue |
MATEC Web Conf.
Volume 388, 2023
2023 RAPDASA-RobMech-PRASA-AMI Conference Advanced Manufacturing Beyond Borders - The 24th Annual International RAPDASA Conference joined by RobMech, PRASA and AMI, hosted by CSIR and CUT
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|---|---|---|
| Article Number | 04023 | |
| Number of page(s) | 11 | |
| Section | Robotics and Mechatronics | |
| DOI | https://doi.org/10.1051/matecconf/202338804023 | |
| Published online | 15 December 2023 | |
Motion planning for a hexapod robot over uneven terrain
1 Department of Electrical & Electronic Engineering, Stellenbosch University, South Africa
2 Department of Electrical & Electronic Engineering, Stellenbosch University, South Africa
18986889@sun.ac.za
jengelbr@sun.ac.za
This paper explores the motion planning of a hexagonal-based hexapod robot (Hexapod) for executing complex motions. The system utilized the Denavit-Hartenberg coordinate system and a kinematics system to enable individual leg control for the Hexapod. By manipulating this system within a simulation, the Hexapod successfully demonstrated the ability to ascend and descend an obstacle, adjust its body’s height and Euler angles, and execute smooth transitions on sloped terrains.
© The Authors, published by EDP Sciences, 2023
This is an Open Access article distributed under the terms of the Creative Commons Attribution License 4.0, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
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