Asset Details
Do you wish to reserve the book?
Synergistic approaches for hexapod mobility: comparative evaluation of structure, navigation, and control strategies on challenging terrains
Hey, we have placed the reservation for you!
By the way, why not check out events that you can attend while you pick your title.
Oops! Something went wrong.
Looks like we were not able to place the reservation. Kindly try again later.
Are you sure you want to remove the book from the shelf?
Synergistic approaches for hexapod mobility: comparative evaluation of structure, navigation, and control strategies on challenging terrains
Do you wish to request the book?
Synergistic approaches for hexapod mobility: comparative evaluation of structure, navigation, and control strategies on challenging terrains
Please be aware that the book you have requested cannot be checked out. If you would like to checkout this book, you can reserve another copy
We have requested the book for you!
Your request is successful and it will be processed during the Library working hours. Please check the status of your request in My Requests.
Oops! Something went wrong.
Looks like we were not able to place your request. Kindly try again later.
Journal Article
Synergistic approaches for hexapod mobility: comparative evaluation of structure, navigation, and control strategies on challenging terrains
2026
Overview
The study delivers a cohesive system that combines structural stress investigation, navigational planning evaluation, and adaptive joint control to optimize hexapod effectiveness on hills, stairs, and uneven surfaces. The robot was developed through the iterative drafting technique and designed by assigning in PLA material. Structural examination with Finite Element Analysis (FEA) under 10 N and 20 N forces demonstrated a positive stress allocation and a safety factor of 2.8, combining compact development with durability. In the ROS/Gazebo exploration investigations utilizing global planners like A*, Dijkstra, RRT, and Artificial Potential Field (APF) in combination with a PID-driven local planner, A* as well as Dijkstra developed nearly the best pathways with 100% accuracy. This cut down on route variation by about 17% in comparison to RRT. RRT established confident that the exploration was always the same, but it established paths that were more lengthy and less smooth. APF, on the contrary, made paths that were smooth but less reliable due to the local minima. Adaptive synchronization for joint control quantitatively provided an improvement in joint angle stability, reducing oscillatory deviations by 12% and displacement errors by 15% relative to baseline controllers. The core novelty within this approach is the integrative methodology that will inherently synergize finite element structural analysis, comparative path planning, and Adaptive joint synchronization: presenting a comprehensive optimization strategy, new to hexapod robotics. Together, these advances allow for robust and efficient real-world deployment of hexapods. Future work will extend to hybrid learning-based planning, and sensor-driven dynamic adaptation.
Publisher
Nature Publishing Group UK,Nature Publishing Group,Nature Portfolio
Subject
