Statically stable hexapod robot body construction

Abstract

Legged locomotion is becoming more and more appealing to robotic engineers. Compared to wheeled and tracked vehicles walking robots are much more effective in overcoming irregular terrain and adapting to various environments. However, walking is considered a very complex task due to the kinematics and dynamics of walking patterns, energy consumption and the necessity to sustain static and dynamic stability all the time. In this paper we propose a hexapod robot body shape to achieve maximum static stability. First, hexapod robot development is discussed including leg design and body shape. Then, using mathematical modeling software a most suitable parameters for hexapod type body are obtained and final hexapod robot model is constructed.