Development and attitude control of a Hexapod bionic-Robot

Abstract

Since the legged robot has a strong complex terrain adaptability and other advantages, this article is designed to develop a Hexapod Robot used to climbing, track navigation, outdoor adventure, search and rescue in dangerous environment. The aluminum frame design of the robot body uses to achieve a light weight and high strength. The design of the universal foot used to increase the adaptability in the ground environment. In this paper, we proposed a dual PID closed-loop control scheme including both position closed-loop control and attitude closed-loop control. At last we carried on robot prototype experiment and MATLAB simulation experiment. The experimental results show that the Six-legged Robot designed in this paper is provided with high stability, superior flexibility, and particularly good adaptability in slope terrain.