Experimental Validation of Hexapod Robot Locomotion over Different Terrain

摘要

Hexapod robot performs six-legged locomotion which is statically steady in negotiating the different terrains. Generally, hexapod robots are using single gait for in their locomotion. This is kind of a limitation of the robots once they are negotiating very complex terrain. Therefore, by considering the present shortcoming of the hexapod robot, we are going to design, develop a hexapod robot and an algorithm of mix mode gait of locomotion over different terrain. The proposed algorithm was validated through experimentation using the developed hexapod robot. Several locomotion tests were performed during experimentation and finally evaluate locomotion of the hexapod robot over different terrain. The function is to make it quicker and in the meantime vitality proficient in energy used to explore and arrange troublesome territory. The experiments show that the 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 work portrays the strategy for surface negotiation route in an unsafe field especially is search and rescue mission. The limitation of this development is that it cannot climb above 30-degree incline surface due to the capability of the actuator, weight, and the material for the footprint.