Autonomous Spider Robot with Hybrid Locomotion Hibrit Lokomosyon Özellikli Otonom Örümcek Robot
34th Signal Processing and Communications Applications Conference, SIU 2026, İstanbul, Türkiye, 7 - 10 Temmuz 2026, (Tam Metin Bildiri)
- Yayın Türü: Bildiri / Tam Metin Bildiri
- Doi Numarası: 10.1109/siu71813.2026.11637025
- Basıldığı Şehir: İstanbul
- Basıldığı Ülke: Türkiye
- Anahtar Kelimeler: Bayesian Optimization, Biomimetic Robot, Extended Kalman Filter, Hybrid Locomotion, Inverse Kinematics, Sensor Fusion
- Yıldız Teknik Üniversitesi Adresli: Evet
Özet
Biomimetic approaches play a critical role in overcoming the performance limits of mobile robotic systems. In this context, bio-inspired robots provide promising terrain-adaptive solutions by exploiting locomotion strategies and environmental adaptability observed in nature. In this study, a hybrid robot inspired by Cebrennus rechenbergi is designed, capable of both walking and rolling on uneven, and flat terrains. To achieve this complex hybrid locomotion capability, a novel inverse kinematics model is developed to ensure precise leg placement on the ground. For attitude estimation, an IMU-based Extended Kalman Filter (EKF), insensitive to magnetic disturbances caused by the motors, is employed, while a LiDAR sensor is integrated for environmental perception. The resulting agile prototype combines completed mechanical and control infrastructure with hybrid locomotion capability, demonstrating adaptability across diverse terrain conditions.