Planning of motion strategy for hexapod robot using biogeography based optimization | ||
| Journal of University of Babylon | ||
| Article 1, Volume 25, Issue 5, October 2017, Pages 1870-1883 | ||
| Authors | ||
| Hayder Mahdi Abdulridha; Hawraa Neema Jasem | ||
| Abstract | ||
| The necessity to utilize the usage of the robot cannot be denied since there are a lot of natural disasters occur around the world, the robot can reach places where humans cannot reach. Hexapod robotic is one of the robots utilized in this case due to its balance and versatility at some stage in the movement on any kind of floor. In this project the explanation of using software and hardware Arduino microcontroller is used to control of such a hexapod. The output signal from Arduino for controlling leg's joint angular position such as a pulse called Pulse Width Modulation (PWM). Also Arduino programmed to create the sequence of motion for six legs. The second part of project is about controlling hexapod to avoid hitches and tracking the wall by using PID controller. Tuning of the PID processes based on Biogeography Based Optimization(BBO) need to keep the connection between PC and hexapod, because the BBO was written by Matlab. The experimental results using BBO to optimize the PID controller parameters of hexapod robot show the efficiency of this technique in the adaptation of controller. | ||
| Keywords | ||
| Kinematics; PID controller; BBO algorithm; The wall tracking; PID; BBO | ||
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