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Complex manoeuvres for navigation of a hexapod robot over uneven terrain
Thesis (MEng)--Stellenbosch University, 2024.
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| Format: | Thesis |
| Language: | English |
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Stellenbosch : Stellenbosch University
2025
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| _version_ | 1867613882756890624 |
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| access_status_str | Open Access |
| author | Di Leva, Jason |
| author2 | Engelbrecht, J. A. A. |
| author_browse | Di Leva, Jason Engelbrecht, J. A. A. |
| author_facet | Engelbrecht, J. A. A. Di Leva, Jason |
| author_sort | Di Leva, Jason |
| collection | Thesis |
| dc_rights_str_mv | Stellenbosch University |
| description | Thesis (MEng)--Stellenbosch University, 2024. |
| format | Thesis |
| id | oai:scholar.sun.ac.za:10019.1/131639 |
| institution | Stellenbosch University (South Africa) |
| language | English |
| last_indexed | 2026-06-10T12:43:12.690Z |
| license_str | Other — see source repository |
| provenance_str_mv | Harvested via OAI-PMH from SUNScholar — Stellenbosch University Repository |
| publishDate | 2025 |
| publishDateRange | 2025 |
| publishDateSort | 2025 |
| publisher | Stellenbosch : Stellenbosch University |
| publisherStr | Stellenbosch : Stellenbosch University |
| record_format | dspace |
| source_str | SUNScholar — Stellenbosch University Repository |
| spelling | oai:scholar.sun.ac.za:10019.1/131639 Complex manoeuvres for navigation of a hexapod robot over uneven terrain Di Leva, Jason Engelbrecht, J. A. A. Stellenbosch University. Faculty of Engineering. Dept. of Electrical and Electronic Engineering. Robots -- Motion Robots -- Kinematics All terrain vehicles Trajectories (Mechanics) UCTD Thesis (MEng)--Stellenbosch University, 2024. ENGLISH ABSTRACT: There has recently been a surge in popularity in legged robotics. With the excitement around Tesla’s bipedal robot as well as the recent military implementation of quadrupedal robots, other legged robots such as hexapod robots do not get as much attention. This is due to the complexity in computing the greater number of legs. This project aims to reintroduce the hexapod robot, with the intention of encouraging further research and development to compete with the more popular bipedal and quadrupedal systems. This project implements a number of complex manoeuvres to enable a simulated hexapod robot to move freely over uneven terrain. This was achieved by creating a mathematical model that applies kinematics to design different motion plans. These motion plans animate the six legs into a coordinated walking motion that enables the hexapod to move around a two dimensional terrain. By manipulating the trajectories of each individual leg, the hexapod is able to perform a variety of complex manoeuvres. These manoeuvrers enable the hexapod to alter its posture and navigate onto or off of different surface levels. These manoeuvrers are implemented alongside a guidance controller to autonomously navigate the hexapod around or over obstacles. In this project, details are provided in how these motion plans are devised, calculated and implemented into a simulated hexapod. The results of these motion plans are observed to maintain a smooth and stable motion. AFRIKAANSE OPSOMMING: Daar was onlangs ’n toename in gewildheid in beenrobotika. Met die opgewondenheid rondom Tesla se tweevoetige robot sowel as die onlangse militêre implementering van viervoetige robotte, kry ander beenrobotte soos heksapodrobotte nie soveel aandag nie. Dit is as gevolg van die kompleksiteit in die berekening van die groter aantal bene. Hierdie projek het ten doel om die heksapod-robot weer in te stel met die doel om verdere navorsing en ontwikkeling aan te moedig, om te kompeteer met die meer gewilde tweevoetige en viervoetige stelsels. Hierdie projek implementeer ’n aantal komplekse maneuvers om ’n gesimuleerde heksapod-robot in staat te stel om vrylik oor ongelyke terrein te beweeg. Dit is bereik deur ’n wiskundige model te skep wat kinematika toepas om verskillende bewegingsplanne te ontwerp. Hierdie bewegingsplanne animeer die ses bene in ’n gekoördineerde loopbeweging wat die heksapode in staat stel om om ’n tweedimensionele terrein te beweeg. Deur die trajekte van elke individuele been te manipuleer, is die heksapod in staat om ’n verskeidenheid komplekse maneuvers uit te voer. Hierdie maneuvers stel die heksapode in staat om sy postuur te verander en op of af van verskillende oppervlakvlakke te navigeer. Hierdie maneuvers word saam met ’n leidingbeheerder geïmplementeer om die heksapode outonoom om of oor hindernisse te navigeer. In hierdie projek word besonderhede verskaf in hoe hierdie bewegingsplanne bedink, bereken en in ’n gesimuleerde heksapod geïmplementeer word. Daar word waargeneem dat die resultate van hierdie bewegingsplanne ’n gladde en stabiele beweging handhaaf. Masters 2025-02-03T07:40:34Z 2025-02-03T07:40:34Z 2024-12 Thesis https://scholar.sun.ac.za/handle/10019.1/131639 en Stellenbosch University xxii, 226 pages : illustrations application/pdf Stellenbosch : Stellenbosch University |
| spellingShingle | Robots -- Motion Robots -- Kinematics All terrain vehicles Trajectories (Mechanics) UCTD Di Leva, Jason Complex manoeuvres for navigation of a hexapod robot over uneven terrain |
| title | Complex manoeuvres for navigation of a hexapod robot over uneven terrain |
| title_full | Complex manoeuvres for navigation of a hexapod robot over uneven terrain |
| title_fullStr | Complex manoeuvres for navigation of a hexapod robot over uneven terrain |
| title_full_unstemmed | Complex manoeuvres for navigation of a hexapod robot over uneven terrain |
| title_short | Complex manoeuvres for navigation of a hexapod robot over uneven terrain |
| title_sort | complex manoeuvres for navigation of a hexapod robot over uneven terrain |
| topic | Robots -- Motion Robots -- Kinematics All terrain vehicles Trajectories (Mechanics) UCTD |
| url | https://scholar.sun.ac.za/handle/10019.1/131639 |
| work_keys_str_mv | AT dilevajason complexmanoeuvresfornavigationofahexapodrobotoveruneventerrain |