Matlab simulation interface for locomotion analysis of a hexapod robot structure

Abstract

In this paper the authors presents a software platform for controlling a virtual hexapod robot made using Matlab. The interface allows full control of the hexapod robot, hardware and software single leg control and locomotion control over obstacles. The main purpose of the interface is to simulate hexapod robot locomotion over common obstacles types. The model of the robot and the leg were developed using geometrical modeling based on Denavit-Hartenberg algorithm. The leg control part is an experimental one and it is a combination between Matlab and Arduino Mega 2560 development board. In order to control the robotic leg the direct kinematics model and inverse kinematics model were used. The application consists of moving the leg tip along a predefined trajectory using a walking algorithm. Moving the leg tip from one point to another is made in two steps: stance phase and swing phase. The paper includes some simulation results related to the locomotion over common obstacles types.