WHEGSTR: A Multiterrain Robot with C-Shaped Whegs, Implementation of Error Minimization Technique and using Artifical Neural Network (ANN)

摘要

Designing a multi-terrain robot, WHEGSTR, a six-legged robot with mental movements. It will be an astute hexapod robot with complaint whegs, which will rotate full circle, avoiding the common problem of toe stubbing in the protraction (swing) phase. With its intrinsic mobility, WHEGSTR will have the ability to adapt according to the terrain and will maintain its balance using algorithms based on differential equations. Due to its rigid body and strong build, the robot can withstand impacts without compromising performance. It will also transmit live broadcast of the surrounding area. Moreover, it will give a continuous feedback about the physical conditions i.e. temperature, pressure, humidity, etc. of the nearby area. It climbs in rock fields, mud, sand, vegetation, railroad tracks, slopes and stairways [1]. This robot is going to be a breakthrough in the industry of robotics due to its compact size, rigidness and ability to move across different terrains.