Design of Hexapod Robot with Adaptive Gait Transition on Rough Terrain

摘要

Legged robots has an advantage over wheeled robots when it comes to moving through rough terrain, they also consume less energy than a UAV with identical payload and can operate over a comparatively extended period of time. Hexapod robots are an important classification of legged robots because of their high load carrying capacity and improved stability. Multiple walking gaits or algorithms can be developed for hexapod robots. In this project a hexapod robot is to be designed and developed with each leg having 3 degrees of freedom and must posses the ability to adapt its walking gait ie it should vary its walking speed and change its walking gait in accordance with the roughness of the terrain. The various applications of this project include search and rescue, surveillance, terrain mapping etc.