Modeling and dynamic control for a hexapod robot

Abstract

In the every expanding field of robotics, mobile robots come in a two primary variations: wheeled and legged. This paper will focus on the latter, specifically a hexapod with a circular body that has its six legs distributed axisymmetrically around the body. The core goal of the project discussed here is to allow the robot to dynamically change foot placement based on an input vector in addition to controlling the position and orientation of the body. Specific attention is also given to a simulation model that can mimic this control of the robot in a virtual environment. Having a high level of control enhances the robot's ability to move in a very smooth and purposeful manner.