As part of the scientific and research activities of the College of Electronics Engineering at Ninevah University, Assist. Prof. Omar Yasin Ismail, an academic staff member in the Department of Systems and Control Engineering, has published a research paper in collaboration with researchers from the University of Technology – Iraq, entitled:
“Body-speed control of hexapod locomotion on uneven terrain using a contact-feasibility-based support margin”
The research was published in the International Journal of Dynamics and Control, a journal published by Springer Nature and indexed in Scopus and Web of Science. The journal is ranked within the first quartile (Q1) across several relevant scientific classifications and subject areas.
The study presents a methodology for controlling the locomotion speed of hexapod robots while navigating uneven terrain. The proposed approach evaluates the feasibility of achieving suitable contact forces between the robot’s legs and the ground surface, allowing the robot’s locomotion speed and step frequency to be adapted according to terrain conditions, without the need to perform computationally expensive real-time three-dimensional optimization.
The results demonstrated that the proposed methodology can achieve effective robot-speed tracking across multiple uneven-terrain scenarios, while maintaining a low computational update time, supporting its potential application in high-speed control systems.
This research represents a valuable scientific contribution to the fields of control engineering, robotics, and intelligent systems. It also reflects the ongoing research activities of the academic staff at the College of Electronics Engineering, Ninevah University, and the College’s commitment to strengthening its scientific presence in reputable international journals and periodicals.