{"id":{"repo_id":"cape-town","oai_identifier":"oai:open.uct.ac.za:11427/32210"},"canonical_url":"https://search.dev.ndltd.org/etd/cape-town/oai:open.uct.ac.za:11427/32210","repository":{"repo_id":"cape-town","name":"University of Cape Town","base_url":"https://open.uct.ac.za/oai/request"},"display":{"title":"Mathematical Modelling and Control System Development of a Remote Controlled, IMU Stabilised Hexapod Robot","abstract":"Walking robots are useful in search and rescue applications due to their ability to navigate uneven and complex terrain. A hexapod robot has been developed by the Robotics and Agents Research Lab at UCT, however multiple inadequacies have become evident. This work aims to produce a mathematical model of the hexapod and using this model, implement an effective control algorithm to achieve a smooth walking motion and overcome the original flaws. The mathematical model was integrated with the mechanical structure of the hexapod and controlled by a micro-controller. This micro-controller allows for a rapid start-up and low power consumption when compared to previous iterations of the hexapod. Using a path generation algorithm sets of foot positions and velocities are generated. Generating these points in real time allows for walking in any direction without any pre-defined foot positions. To enable attitude control of the hexapod body, an inertial measurement unit was added to the hexapod. By using a PID controller the IMU pitch and roll data was used to control a height offset of each foot of the hexapod, allowing for stabilisation of the hexapod body. An improved wireless remote control was developed to facilitate communication with a host computer. The remote system has a graphical user interface allowing for walking control and status information feedback, such as error information and current battery voltage. Walking tests have shown that the hexapod walks successfully with a smooth tripod gait using the path generation algorithm. Stabilisation tests have shown that the hexapod is capable of stabilising itself after a disturbance to its pitch and/or roll in ±2.5 seconds with a steady state error of ±0.001 radians. This proves that the hexapod robot can be controlled wirelessly while walking in any direction with a stabilised body. This is beneficial in search and rescue as the hexapod has a high degree of manoeuvrability to access areas too dangerous for rescuers to access. With cameras mounted on the stabilised body, it can be used to locate survivors in a disaster area and assist rescuers in recovering them with speed.","abstract_html":"Walking robots are useful in search and rescue applications due to their ability to navigate uneven and complex terrain. A hexapod robot has been developed by the Robotics and Agents Research Lab at UCT, however multiple inadequacies have become evident. This work aims to produce a mathematical model of the hexapod and using this model, implement an effective control algorithm to achieve a smooth walking motion and overcome the original flaws. The mathematical model was integrated with the mechanical structure of the hexapod and controlled by a micro-controller. This micro-controller allows for a rapid start-up and low power consumption when compared to previous iterations of the hexapod. Using a path generation algorithm sets of foot positions and velocities are generated. Generating these points in real time allows for walking in any direction without any pre-defined foot positions. To enable attitude control of the hexapod body, an inertial measurement unit was added to the hexapod. By using a PID controller the IMU pitch and roll data was used to control a height offset of each foot of the hexapod, allowing for stabilisation of the hexapod body. An improved wireless remote control was developed to facilitate communication with a host computer. The remote system has a graphical user interface allowing for walking control and status information feedback, such as error information and current battery voltage. Walking tests have shown that the hexapod walks successfully with a smooth tripod gait using the path generation algorithm. Stabilisation tests have shown that the hexapod is capable of stabilising itself after a disturbance to its pitch and/or roll in ±2.5 seconds with a steady state error of ±0.001 radians. This proves that the hexapod robot can be controlled wirelessly while walking in any direction with a stabilised body. This is beneficial in search and rescue as the hexapod has a high degree of manoeuvrability to access areas too dangerous for rescuers to access. With cameras mounted on the stabilised body, it can be used to locate survivors in a disaster area and assist rescuers in recovering them with speed.","abstract_has_math":false,"creators":["Christopher, Ross"],"institution":"Department of Mechanical Engineering","degree_name":null,"degree_level":null,"degree_discipline":null,"degree_department":null,"school":null,"contributors":[],"advisors":["Mouton, Hendrik D"],"committee_chairs":[],"committee_members":[],"year":2020,"date_issued":"2020","date_published":"2020","updated_at":"2026-07-22T22:22:55Z","subjects":["Mechanical Engineering"],"languages":[],"rights":[],"rights_urls":[],"identifier_entries":[]},"links":{"outbound_url":"http://hdl.handle.net/11427/32210","outbound_label":"Handle","outbound_source":"dc:identifier.uri"},"metadata_groups":[{"id":"people","label":"People","entries":[{"key":"dc:contributor.advisor","label":"Advisor","values":["Mouton, Hendrik D"]},{"key":"dc:creator","label":"Author","values":["Christopher, Ross"]}]},{"id":"academic_context","label":"Academic Context","entries":[{"key":"dc:date.accessioned","label":"Dc Date Accessioned","values":["2020-09-10T08:23:53Z"]},{"key":"dc:date.available","label":"Dc Date Available","values":["2020-09-10T08:23:53Z"]},{"key":"dc:date.issued","label":"Date","values":["2020"]},{"key":"dc:publisher.department","label":"Dc Publisher Department","values":["Department of Mechanical Engineering"]},{"key":"dc:type","label":"Dc Type","values":["Master Thesis"]},{"key":"dc:type.qualificationlevel","label":"Dc Type Qualificationlevel","values":["Masters","MSc"]}]},{"id":"subjects_keywords","label":"Subjects and Keywords","entries":[{"key":"dc:subject","label":"Dc Subject","values":["Mechanical Engineering"]}]},{"id":"identifiers","label":"Identifiers","entries":[{"key":"dc:identifier.uri","label":"Identifier URI","values":["http://hdl.handle.net/11427/32210"]}]},{"id":"additional","label":"Additional Metadata","entries":[{"key":"dc:description.abstract","label":"Abstract","values":["Walking robots are useful in search and rescue applications due to their ability to navigate uneven and complex terrain. A hexapod robot has been developed by the Robotics and Agents Research Lab at UCT, however multiple inadequacies have become evident. This work aims to produce a mathematical model of the hexapod and using this model, implement an effective control algorithm to achieve a smooth walking motion and overcome the original flaws. The mathematical model was integrated with the mechanical structure of the hexapod and controlled by a micro-controller. This micro-controller allows for a rapid start-up and low power consumption when compared to previous iterations of the hexapod. Using a path generation algorithm sets of foot positions and velocities are generated. Generating these points in real time allows for walking in any direction without any pre-defined foot positions. To enable attitude control of the hexapod body, an inertial measurement unit was added to the hexapod. By using a PID controller the IMU pitch and roll data was used to control a height offset of each foot of the hexapod, allowing for stabilisation of the hexapod body. An improved wireless remote control was developed to facilitate communication with a host computer. The remote system has a graphical user interface allowing for walking control and status information feedback, such as error information and current battery voltage. Walking tests have shown that the hexapod walks successfully with a smooth tripod gait using the path generation algorithm. Stabilisation tests have shown that the hexapod is capable of stabilising itself after a disturbance to its pitch and/or roll in ±2.5 seconds with a steady state error of ±0.001 radians. This proves that the hexapod robot can be controlled wirelessly while walking in any direction with a stabilised body. This is beneficial in search and rescue as the hexapod has a high degree of manoeuvrability to access areas too dangerous for rescuers to access. With cameras mounted on the stabilised body, it can be used to locate survivors in a disaster area and assist rescuers in recovering them with speed."]},{"key":"dc:title","label":"Title","values":["Mathematical Modelling and Control System Development of a Remote Controlled, IMU Stabilised Hexapod Robot"]}]}],"canonical_facts":{"dc:contributor.advisor":["Mouton, Hendrik D"],"dc:creator":["Christopher, Ross"],"dc:date.accessioned":["2020-09-10T08:23:53Z"],"dc:date.available":["2020-09-10T08:23:53Z"],"dc:date.issued":["2020"],"dc:description.abstract":["Walking robots are useful in search and rescue applications due to their ability to navigate uneven and complex terrain. A hexapod robot has been developed by the Robotics and Agents Research Lab at UCT, however multiple inadequacies have become evident. This work aims to produce a mathematical model of the hexapod and using this model, implement an effective control algorithm to achieve a smooth walking motion and overcome the original flaws. The mathematical model was integrated with the mechanical structure of the hexapod and controlled by a micro-controller. This micro-controller allows for a rapid start-up and low power consumption when compared to previous iterations of the hexapod. Using a path generation algorithm sets of foot positions and velocities are generated. Generating these points in real time allows for walking in any direction without any pre-defined foot positions. To enable attitude control of the hexapod body, an inertial measurement unit was added to the hexapod. By using a PID controller the IMU pitch and roll data was used to control a height offset of each foot of the hexapod, allowing for stabilisation of the hexapod body. An improved wireless remote control was developed to facilitate communication with a host computer. The remote system has a graphical user interface allowing for walking control and status information feedback, such as error information and current battery voltage. Walking tests have shown that the hexapod walks successfully with a smooth tripod gait using the path generation algorithm. Stabilisation tests have shown that the hexapod is capable of stabilising itself after a disturbance to its pitch and/or roll in ±2.5 seconds with a steady state error of ±0.001 radians. This proves that the hexapod robot can be controlled wirelessly while walking in any direction with a stabilised body. This is beneficial in search and rescue as the hexapod has a high degree of manoeuvrability to access areas too dangerous for rescuers to access. With cameras mounted on the stabilised body, it can be used to locate survivors in a disaster area and assist rescuers in recovering them with speed."],"dc:identifier.uri":["http://hdl.handle.net/11427/32210"],"dc:publisher.department":["Department of Mechanical Engineering"],"dc:subject":["Mechanical Engineering"],"dc:title":["Mathematical Modelling and Control System Development of a Remote Controlled, IMU Stabilised Hexapod Robot"],"dc:type":["Master Thesis"],"dc:type.qualificationlevel":["Masters","MSc"]},"updated_at":"2026-07-22T22:22:55Z"}