Journal article Open Access

Walking Hexapod Robot in Disaster Recovery: Developing Algorithm for Terrain Negotiation and Navigation

Md. Masum Billah; Mohiuddin Ahmed; Soheli Farhana

JSON Export

  "files": [
      "links": {
        "self": ""
      "checksum": "md5:1afded1d1fbe9578613213d8bdbdd4af", 
      "bucket": "9c95fb7a-4a10-489e-8f87-38a36b914162", 
      "key": "15549.pdf", 
      "type": "pdf", 
      "size": 244307
  "owners": [
  "doi": "10.5281/zenodo.1085249", 
  "stats": {
    "version_unique_downloads": 12.0, 
    "unique_views": 10.0, 
    "views": 11.0, 
    "downloads": 12.0, 
    "unique_downloads": 12.0, 
    "version_unique_views": 10.0, 
    "volume": 2931684.0, 
    "version_downloads": 12.0, 
    "version_views": 11.0, 
    "version_volume": 2931684.0
  "links": {
    "doi": "", 
    "conceptdoi": "", 
    "bucket": "", 
    "conceptbadge": "", 
    "html": "", 
    "latest_html": "", 
    "badge": "", 
    "latest": ""
  "conceptdoi": "10.5281/zenodo.1085248", 
  "created": "2018-01-17T09:33:36.398699+00:00", 
  "updated": "2018-01-17T09:40:25.197255+00:00", 
  "conceptrecid": "1085248", 
  "revision": 2, 
  "id": 1085249, 
  "metadata": {
    "access_right_category": "success", 
    "doi": "10.5281/zenodo.1085249", 
    "description": "In modern day disaster recovery mission has become\none of the top priorities in any natural disaster management regime.\nSmart autonomous robots may play a significant role in such\nmissions, including search for life under earth quake hit rubbles,\nTsunami hit islands, de-mining in war affected areas and many other\nsuch situations. In this paper current state of many walking robots are\ncompared and advantages of hexapod systems against wheeled robots\nare described. In our research we have selected a hexapod spider\nrobot; we are developing focusing mainly on efficient navigation\nmethod in different terrain using apposite gait of locomotion, which\nwill make it faster and at the same time energy efficient to navigate\nand negotiate difficult terrain. This paper describes the method of\nterrain negotiation navigation in a hazardous field.", 
    "license": {
      "id": "CC-BY-4.0"
    "title": "Walking Hexapod Robot in Disaster Recovery: Developing Algorithm for Terrain Negotiation and Navigation", 
    "language": "eng", 
    "relations": {
      "version": [
          "count": 1, 
          "index": 0, 
          "parent": {
            "pid_type": "recid", 
            "pid_value": "1085248"
          "is_last": true, 
          "last_child": {
            "pid_type": "recid", 
            "pid_value": "1085249"
    "communities": [
        "id": "waset"
    "version": "15549", 
    "references": [
      "G. Nejat and Z. Zhang, \"The Hunt for Survivors: Identifying Landmarks\nfor 3D Mapping of Urban Search and Rescue Environments,\" The\nWorld Multi-Conference on Systemics, Cybernetics and Informatics\n(WMSCI 2006), 2006.", 
      "C.-L. Shih and C. A. Klein, \"An adaptive gait for legged walking\nmachines over rough terrain,\" IEEE Trans. Syst. Man Cybem., vol.\nSMC-23, no.4, pp. 1150-1 155, July/Aug. 1993.", 
      "F. Ozguner, S. I. Tsai and R. B. McGhee, \"An approach to the use of\nterrain-preview information in rough-terrain locomotion by a hexapod\nwalkin, achine,\" Int. J. Robotics Res., vol. 3, no. 2, pp. 134- 146,\nSummer 1984.", 
      "P. K. Pal and K. Jayarajan, \"Generation of free gaita graph search\napproach,\" IEEE Trans. Robot. Automat., vol. 7, no. 3, pp. 299-305,\nJune. 1991.", 
      "R. B. McGhee and G. I. Iswandhi, \"Adaptive locomotion of a\nmultilegged robot over rough terrain,\"IEEE Trans. Syst. Man Cybem.,\nvol. SMC-9, no.4, pp. 176-182, Apr. 1979.", 
      "Habib Mechanical mine clearance technologies and humanitarian\ndemining applicability and effectiveness; 2000.", 
      "Y. Mori, K. Takayama, T. Adachi, S. Omote and T. Nakamura,\nFeasibility study on an excavation-type demining robot, Auton Robot 18\n(2005), pp. 263-274.", 
      "Rizo J, Coronado J, Campo C, Forero A, Otalora C, Devy M, et al.\nURSULA: robotic demining system. In: Proceedings of the 11th\ninternational conference on advanced robotics; 2003. p. 538-43.", 
      "Y. Baudoin, M. Acheroy, M. Piette and J.P. Salmon, Humanitarian\ndemining and robotics, Mine Action Inform Center J 3 (2) (1999).\n[10] Hirose S, Kato K. Quadruped walking robot to perform mine detection\nand removal task. In: Proceedings of the first international conference on\nclimbing and walking robots; 1998. p. 261-6.\n[11] Nonami K, Huang QJ, Komizo D, Shimoi N, Uchida H. Humanitarian\nmine detection six-legged walking robot. In: Proceedings of the third\ninternational conference on climbing and walking robots; 2000. p. 861-\n8.\n[12] Q.J. Huang and K. Nonami, Humanitarian mine detecting six-legged\nwalking robot and hybrid neuro walking control with position/force\ncontrol, Mechatronics 13 (2003), pp. 773-790.\n[13] D. Voth, Nature-s guide to robot design, IEEE Intell Syst (2002), pp. 4-\n7.\n[14] P. Gonzalez de Santos and M.A. Jimenez, Generation of discontinuous\ngaits for quadruped walking machines, J Robot Syst 12 (9) (1995), pp.\n599-611.\n[15] P. Gonzalez de Santos, M.A. Armada and M.A. Jimenez, Ship building\nwith ROWER, IEEE Robot Autom Mag 7 (4) (2000), pp. 35-43\n[16] P. Gonzalez de Santos, J.A. Galvez, J. Estremera and E. Garcia, SILO4 -\nA true walking robot for the comparative study of walking machine\ntechniques, IEEE Robot Autom Mag 10 (4) (2003), pp. 23-32.\n[17] Autonomous Pesticide Spraying Robot for use in a Greenhouse,Philip J.\nSammons, Tomonari Furukawa and Andrew Bulgin ARC Centre of\nExcellence for Autonomous Systems,School of Mechanical and\nManufacturing Engineering. The University of New South Wales,\nAustralia, September 9, 2005.\n[18] Zhe Zhang; Hong Guo; Nejat, G.; Peisen Huang, \"Finding Disaster\nVictims: A Sensory System for Robot-Assisted 3D Mapping of Urban\nSearch and Rescue Environments,\" Robotics and Automotion, IEEE -\n2007.\n[19] R. R. Murphy, \"Human-Robot Interaction in Rescue Robotics,\" IEEE\nTransactions on Systems, Man, and Cybernetics-Part C: Applications\nand Reviews, Vol. 34, No. 2, pp. 138-153, 2004.\n[20] Gan-Mor S., Ronen B., Kazaz I., Josef S., Bilanki Y. (1997), Guidance\nfor Automatic Vehicle for Greenhouse Transportation\", ACTA\nHorticulture, Vol 443, pp. 99-104.\n[21] Sezen, B. (2003), Modelling Automated Guided Ve- hicle Systems in\nmaterial Handling\", Dogus Univer- sitesi Dergisi, Vol 4, No. 3, pp. 207-\n216.\n[22] Schneider A, Zeidis I, Zimmermann K. Comparison of body shapes\nof walking machines in regards to stability margins. In: Proceedings of\nthe third international conference on climbing and walking robots; 2000.\np. 275-81.\n[23] \"Leg Coordination\"- V. Holst tripod gait.\n[24] \"Adaptive Wave Gait for Hexapod Synchronized Walking \"-Katsuhiko\nINAGAKI and Hisato KOBAYASHI, Hosei University, Kaj ino-cho,\nKoganei, Tokyo 184, JAPAN.\n[25] Hexapod Robot Gait, Oricom Technologies,"
    "keywords": [
      "Walking robots", 
      "hexapod robot", 
      "hazardous field."
    "publication_date": "2008-06-26", 
    "creators": [
        "name": "Md. Masum Billah"
        "name": "Mohiuddin Ahmed"
        "name": "Soheli Farhana"
    "access_right": "open", 
    "resource_type": {
      "subtype": "article", 
      "type": "publication", 
      "title": "Journal article"
    "related_identifiers": [
        "scheme": "doi", 
        "relation": "isVersionOf", 
        "identifier": "10.5281/zenodo.1085248"
All versions This version
Views 1111
Downloads 1212
Data volume 2.9 MB2.9 MB
Unique views 1010
Unique downloads 1212


Cite as