The implementation of the gaits and body structure for hexapod robot

摘要

This paper deals with the implementation of a hexapod robot, called SERO (Semyung Robot). The body and the controller structure of the robot are presented and kinematics results are also discussed. The various gaits are suggested including the plain walking and the rollover operation for its being turned over, and are verified through a simulator. Also, the controller structure including operating system, multi-processors and sensors are presented. The robot controller is connected with a host PC by an Internet web browser and its algorithm can be downloaded or uploaded. In this paper, we tried to deal with the various design factors, gait simulation and implementation for SERO.