Important publications:

• Robust optimization of multi-scenario many-objective problems with auto-tuned utility function, I Kecskés, P Odry, Engineering Optimization, 1-21, https://www.tandfonline.com/doi/abs/10.1080/0305215X.2020.1775823
• A validation procedure to identify joint friction, reductor self-locking and gear backlash parameters, E Burkus, J Awrejcewicz, P Odry, Archive of Applied Mechanics, 1-17, https://link.springer.com/article/10.1007%2Fs00419-020-01687-2
• Multi-scenario multi-objective optimization of a fuzzy motor controller for the Szabad (ka)-II hexapod robot, I Kecskés, P Odry, Acta Polytechnica Hungarica 15 (7), 157-178, http://acta.uni-obuda.hu/Kecskes_Odry_86.pdf
• Model validation of a hexapod walker robot, I Kecskés, E Burkus, F Bazsó, P Odry, Robotica 35 (2), 419-462 https://www.cambridge.org/core/journals/robotica/article/abs/model-validation-of-a-hexapod-walker-robot/8E70FA393F3E468638E6BB22730772C7
• Optimization of PI and Fuzzy-PI Controllers on Simulation Model of Szabad (ka)-II walking robot, I Kecskés, P Odry, International Journal of Advanced Robotic Systems 11 (11), 186, https://journals.sagepub.com/doi/full/10.5772/59102
• Autonomous Hexapod Walker Robot “Szabad(ka)”, Burkus E, Odry P, Acta Polytechnica Hungarica 5:(1) pp. 69-85, http://acta.uni-obuda.hu/Burkus_Odry_13.pdf

Supplementary materials:

• optimization methods
• optimization method interface functions
• test functions for benchmarking optimization methods
• Robust optimization of multi-scenario multi-objective function

About Szabad(ka) robots

Autonomous hexapod walker robot “Szabad(ka)” is developed for testing and developing algorithms connected to motion, robot vision, decision making and robot networking. This hexapod robot was given the name “Szabad(ka)” because it incorporates the name of the city where it was designed as well as hinting at its main feature, namely that it can be openly (‘szabad’) developing platform for user specific needs.

Walking machines are desirable because they can navigate terrain features that are similar in size to the size of the robot, whereas wheeled and tracked vehicles are only suitable for obstacles smaller than half the diameter of the wheel. Furthermore, if given an ability to find locally horizontal footholds in regionally steep terrain, they can climb extreme angles. Applications potentially include reaching territories which are unreachable or dangerous for humans, exploration, mining, military, rescue, and industrial environments, on earth and beyond.

We designed intentional nonlinearities into the structure of the robot. The drive was assembled with a step-by-step approximation. With the help of the stepwise approximation, we can better highlight the effects of the obtained nonlinear process.