Design, Fabrication and Control of A Six-Legged Robot For Search and Rescue

摘要

The objective of the project is to design, fabricate and control the locomotion of a six-legged robot for the purpose of rescue aiding. The ability of the robot to produce multiple gait sequences makes travelling across irregular terrain patterns possible. The important feature of the developing model is that the robot has good control actuations. Good control actuations enable the robot to move efficiently through various obstacles. This robot can climb into ruins to detect the presence of casualties by using P-IR sensor and live video streaming.