A hexapod robot for off-road applications

摘要

The present paper aims to approach aspects regarding the exploration of rough terrain areas using robotic systems. For a complete image on the approached subject (legged robots) several aspects are considered such as: determining stepping pattern for these types of robots, advantages resulting from designing such systems and the advantages resulting from the system's large area of applicability. A hexapod robot with compliant legs has been designed, simulated, optimized and developed. The mechanical structure is different from a classical one as the two platforms are articulated one to the other. Compared to a classical structure where a turn is accomplished using different velocities for legs situated on opposite sides. in this case the turning is done by the relative rotation of the two platforms.