Design of a hexapod robot

摘要

This paper introduces a new hexapod legged robot that can autonomously adapt to a variety of terrain; its wheel leg designs specially to make it has a good obstacle surmounting capacity. This robot uses the modularized design method, using the interrupt to detect the position of the wheel leg, PWM to control motor speed, Bus to control motor, gait program to control the robot motion, wireless data transmission to control the robot's gait, host computer to real-time monitor the robot status. The host computer or user handheld devices can regulate the state of the robot, at the same time the host computer can monitor the state of the robot. Finally, the principle demonstrator verifies the feasibility of the software design and hardware design method, thus ensuring the validity and reliability of the robot design.