Identification of the Workspace of a Hexapod Mobile Robot Using Multobjective Optimization

Authors

  • Josué Domínguez Guerrero Centro de Investigación y Desarrollo de Tecnología Digital (CITEDI), Instituto Politécnico Nacional
  • Roberto Sepúlveda Centro de Investigación y Desarrollo de Tecnología Digital (CITEDI), Instituto Politécnico Nacional
  • Oscar Montiel Centro de Investigación y Desarrollo de Tecnología Digital (CITEDI), Instituto Politécnico Nacional
  • Oscar Castillo Tijuana Institute of Technology, Tijuana, B.C.

DOI:

https://doi.org/10.13053/cys-21-2-2739

Keywords:

Hexapod robot, multobjective optimization, delta robot, evolutionary algorithms, gait.

Abstract

In this paper, an innovative method to findthe workspace of a hexapod mobile robot is presented.Differently, to the current state of the art methods thatallows to determine the working spaces for walking instraight line, the proposed method allows estimatingthe optimal set of configurations for walking in anyviable direction. The method takes advantage of theexisting similitudes between the hexapod and theDelta robot during the tripod walk; however, thereare some movement restrictions between them, whichwere conveniently solved by handling them as amultiobjective optimization problem. Particularly, theMOEA/D algorithm was used to solve the problem.

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Published

2017-06-30

Issue

Vol. 21 No. 2 (2017): Thematic issue: Authorship Analysis (Guest editors: M. Montes, L. Villaseñor)

Section

Articles

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