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This dynamic interaction leads to varying hexapod postures, affecting overall system stability. This study introduces a posture control approach that adjusts the hexapod\u2019s main body orientation and height based on terrain topology. The strategy estimates ground slope using limb positions, thereby calculating novel limb trajectories to modify the hexapod\u2019s angular position. Adjusting the hexapod\u2019s height, based on the calculated slope, further enhances main body stability. The proposed methodology is implemented and evaluated on the ATHENA hexapod (All-Terrain Hexapod for Environment Adaptability). Control feasibility is assessed through dynamic analysis of the hexapod\u2019s multibody model on irregular surfaces, using computational simulations in Gazebo software. Environmental complexity\u2019s impact on hexapod stability is tested on both a ramp and uneven terrain. Independent analyses for each scenario evaluate the controller\u2019s effect on roll and pitch angular velocities, as well as height variations. Results demonstrate the strategy\u2019s suitability for both environments, significantly enhancing posture stability.<\/jats:p>","DOI":"10.1017\/s0263574723001765","type":"journal-article","created":{"date-parts":[[2023,12,27]],"date-time":"2023-12-27T09:20:41Z","timestamp":1703668841000},"page":"792-816","source":"Crossref","is-referenced-by-count":12,"title":["Development and implementation of a new approach for posture control of a hexapod robot to walk in irregular terrains"],"prefix":"10.1017","volume":"42","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-5992-975X","authenticated-orcid":false,"given":"Joana","family":"Coelho","sequence":"first","affiliation":[]},{"given":"Bruno","family":"Dias","sequence":"additional","affiliation":[]},{"given":"Gil","family":"Lopes","sequence":"additional","affiliation":[]},{"given":"Fernando","family":"Ribeiro","sequence":"additional","affiliation":[]},{"given":"Paulo","family":"Flores","sequence":"additional","affiliation":[]}],"member":"56","published-online":{"date-parts":[[2023,12,27]]},"reference":[{"key":"S0263574723001765_ref51","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-031-08140-8_52"},{"key":"S0263574723001765_ref39","doi-asserted-by":"publisher","DOI":"10.1016\/j.measurement.2022.110904"},{"key":"S0263574723001765_ref29","doi-asserted-by":"publisher","DOI":"10.1109\/100.692340"},{"key":"S0263574723001765_ref34","doi-asserted-by":"publisher","DOI":"10.1109\/ICSTCC.2017.8107038"},{"key":"S0263574723001765_ref13","doi-asserted-by":"publisher","DOI":"10.1007\/s12206-020-0833-9"},{"key":"S0263574723001765_ref40","doi-asserted-by":"publisher","DOI":"10.3390\/app11199217"},{"key":"S0263574723001765_ref14","first-page":"436","volume-title":"2021 6th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2021","author":"Sun","year":"2021"},{"key":"S0263574723001765_ref9","first-page":"595","volume-title":"10th International Conference on Control, Automation and Information Sciences, ICCAIS. 2021 - Proceedings","author":"Chavez","year":"2021"},{"key":"S0263574723001765_ref31","doi-asserted-by":"publisher","DOI":"10.1109\/IROS40897.2019.8968158"},{"key":"S0263574723001765_ref12","first-page":"4326","volume-title":"Proceedings of the 33rd Chinese Control and Decision Conference, CCDC 2021","author":"Liu","year":"2021"},{"key":"S0263574723001765_ref30","doi-asserted-by":"publisher","DOI":"10.1016\/j.measurement.2018.03.057"},{"key":"S0263574723001765_ref47","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-7091-2624-0"},{"key":"S0263574723001765_ref28","doi-asserted-by":"publisher","DOI":"10.1007\/s12541-017-0061-0"},{"key":"S0263574723001765_ref20","doi-asserted-by":"publisher","DOI":"10.1007\/s10846-021-01388-0"},{"key":"S0263574723001765_ref48","first-page":"162","volume-title":"Proceedings 2000 ICRA. 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