Identification of the workspace of a hexapod robot using multiobjective optimization

In this paper, an innovative method to find the workspace of a hexapod mobile robot is presented. Differently, to the current state of the art methods that allows to determine the working spaces for walking in straight line, the proposed method allows estimating the optimal set of configurations for walking in any viable direction. The method takes advantage of the existing similitudes between the hexapod and the Delta robot during the tripod walk; however, there are some movement restrictions between them, which were conveniently solved by handling them as a multiobjective optimization problem. Particularly, the MOEA/D algorithm was used to solve the problem.