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hexapod-robot
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Design, Implementation and Control of A Hexapod Robot Using Reinforcement Learning Approach
, M.Sc. Thesis Sharif University of Technology ; Khayyat, Amir Ali Akbar (Supervisor)
Abstract
Hexapod Robots give us the ability to study walking robots without facing problems such as stability. It has a great deal of exibility in movement even if some legs become malfunctioned or face some diculties. Control of legged robots compared to other kind of locomotions is di- cult and requires fairly heavy on-line computations to be done in real time. Therefore, a machine-learning solution may be more convenient in such prob- lems. One method of machine-learning which is used for legged robots with outstanding potential is Reinforcement Learning (RL). RL is a promising ap- proach for achieving complex robots control in dynamic environments. RL techniques are interesting subjects in...
Gait analysis of a six-legged walking robot using fuzzy reward reinforcement learning
, Article 13th Iranian Conference on Fuzzy Systems, IFSC 2013 ; August , 2013 , Page(s): 1 - 4 ; ISBN: 9781479912278 ; Khayyat, A. A ; Sharif University of Technology
IEEE Computer Society
2013
Abstract
Free gait becomes necessary in walking robots when they come to walk over discontinuous terrain or face some difficulties in walking. A basic gait generation strategy is presented here using reinforcement learning and fuzzy reward approach. A six-legged (hexapod) robot is implemented using Q-learning algorithm. The learning ability of walking in a hexapod robot is explored considering only the ability of moving its legs and using a fuzzy rewarding system telling whether and how it is moving forward. Results show that the hexapod robot learns to walk using the presented approach properly
Dynamic Stability of Parallel Kinematic Machine Tools
, M.Sc. Thesis Sharif University of Technology ; Zohoor, Hassan (Supervisor) ; Movahhedy, Mohammad Reza (Supervisor)
Abstract
Parallel kinematics machine tools (PKMs) are being received in recent years and their capability for machining has been widely studied. One of the disadvantages of these kinds of machine tools is dependency of their structural properties on their configuration. In this thesis, the effect of this dependency on machine stability for the case of a hexapod and a hexaglide machine tool is studied. The process of modeling and analysis are implemented for the hexaglide and hexapod machine tools. In the modeling, the legs are modeled using rod and beam elements whereas platform is assumed to be rigid. Both experimental and analytical analysis show that dominant frequencies of PKMs at tool tip are in...
Analysis and Design of Controller and User Interface of a 6DOF Stewart Platform-Based Hydraulic Motion Simulator for Heavy Payloads
, M.Sc. Thesis Sharif University of Technology ; Durali, Mohammad (Supervisor)
Abstract
Motion simulators have been highly sought after by the growth of the aerospace industry. In the meantime, the Stewart mechanism, or the so-called Hexapads, is a robot that, in addition to being used in machining tools, is mainly used to simulate the flight. The Stewart-Gaph mechanism was created and introduced in 1954 and 1965, and since then dynamics and control have been widely addressed in the mechanical engineering literature. The robot is considering the project to test parts and equipment installed in marine vessels under sea movements and waves. Therefore, according to information obtained through relevant organs, the purpose of this project is to design and implement a hexapad...