Development of Autonomous Hexapod Robot Locomotion in Complex Scenario

Abstract

Nowadays robots are utilized to do dull activities or occupations considered excessively unsafe for people. A hexapod robot basically is a six-legged walking robot which is statically steady on at least three legs also has a lot of adaptability in negotiate with surface. As before, the hexapod only produces a single gait for single locomotion. The purpose of this project is to develop a hexapod robot. At the same time, it’s also developed the mix mode gait of locomotion algorithm for the hexapod robot. Finally, run some test and evaluate the hexapod robot locomotion system. In order to understand the locomotion and algorithm needed, observation must be done to gather the movement data of a spider and ant. Overall, created the mix mode gait and it’s have been successfully performed on different surface. The function is to make it quicker and in the meantime vitality proficient in energy used to explore and arrange troublesome territory. Tripod gait produce 7.5cm/s velocity which faster than wave gait that only produce 1.2cm/s. But, in term of stability the wave gait had more significant since the step of every movement have more leg which is 5 legged on the ground compared to tripod gait that only used 3 legged. This project portrays the strategy for surface negotiation route in an unsafe field especially is search and rescue mission. The limitation is it cannot climb above 30 degree in angle due to the capability of the servo motor itself, weight, and the material for the footprint.