Study and analysis of the gait and legs angle for the hexapod on the certain trajectory

Pauline , Ngoi (2014) Study and analysis of the gait and legs angle for the hexapod on the certain trajectory. Project Report. UTeM. (Submitted)

Text Study and Analysis of the Gait and Legs Angle for Hexapod 24pages.pdf Download (420kB)

Abstract

One of the features of hexapod is the ability of walking in different types of terrains. This project is concerned on the angle analysis for each movement when the hexapod walks on certain trajectory using tripod gait movement. In this project, a hexapod with two degree of freedom on each leg is designed and built for the purpose of legs angle research. The movement of the hexapod is guided by four Infrared Sensors installed which used to track the black line. Fuzzy Logic Controller is applied to create better response of robot behavior than conventional controllers. The controller will be based on the signal input from Infrared Sensors to control the turning angle of the robot. Leg angle in 10°, 15°, 20° and 25° are tested and analyzed whether it can maneuver the given path successfully or not. In order to get accurate and reliable results, collection of data is programmed in Arduino. The data is then collected from Serial Monitor in Arduino IDE. The hexapod robot able to walk, follow and turn at any types of trajectories given.

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