Surveillance and Controlling of Firebird-V Based Hexapod using Raspberry Pi

摘要

Hexapod legged robot”s mission require high level of stability and precision, particularly in irregular areas. This paper aims to implement functionality in Firebird-V Hexapod which can enable it to move fast., smooth and stable. Firebird-V Hexapod consists of six legs built on a Firebird-V bot, each leg has 3 servo motors. So, in combination, the bot has 18 degrees of freedom. Mechanical structure and leg configuration, motion conditions, and walking gait needs to be taken into account to implement proposed work. Camera is mounted on robot for surveillance purpose and interfaced with Raspberry Pi, which enables live video streaming feature. ATmega2S60 controller is part of Firebird-V which is interfaced with Raspberry Pi. For Controlling, commands are transmitted from Raspberry Pi to ATmega2S60. The monitoring and controlling of robotic movements through WiFi is done by using a web browser and joystick as well.