GAIT CONTROL BY GENETIC ALGORITHM FOR AGRICULTURAL HEXAPOD WALKING ROBOT

摘要

The bio-production of the orchard and the ravine part is done in the inclination ground and unleveled land. The hexapod walking robot, which is stabilized in these field, is suitable for many production works. This study had aimed to develop hexapod walking robots for agriculture. First of all, a small walking robot was made for trial, to form flexible gait that adjusted to unleveled land. Next, straight advancement and turn gait of this robot was formed with genetic algorithms.