Octapod spider-gait-walking robot implementation using nano processor

摘要

Many researchers have developed intelligent monitoring systems for the detection purposes in various environmental conditions. The environment conditions are critical in most of the cases where it is unsafe for the humans to get access. In such cases, the walking robots are usually sent for monitoring purposes. Among those intelligent monitoring robots, octapod is the focus of this research as it can be made compact and flexible. This paper focuses on the design and hardware implementation of octapod robotic system which is power effective. The Octapod has eight legs along with the sensors attached to it. The robotic system is designed using single chip microcontroller ATMEGA 328.6. The channel generates the pulse width modulated signal automatically when it is sensed, the controls the steering gears takes place, so that it can make the Octapod robot walk. The Arduino platform is used for the operation of robot. The movement operation is implemented with DC micro servo closed loop control with angular position and angular velocity feedback. The wireless module is used for communication purpose. The location of the Octapod is identified using the MATLAB programming tool box. The robot locomotion is implemented experimentally similar to spider movement. It is controlled automatically and manually by MATLAB GUI. Results are experimentally verified. The robot walks successfully.