Six Legged Robot Walking Gaits

Looi , Siew Chin (2015) Six Legged Robot Walking Gaits. Project Report. UTeM, Melaka, Malaysia. (Submitted)

Text (24 Pages) Six Legged Robot Walking Gaits.pdf - Submitted Version Download (329kB)

Abstract

Legged robots are used in many applications as they suitable to travel on both even and uneven surface. Six legged robot or hexapod managed to perform well in uneven surface such as space or area after earthquake had happen as it is statically stable in term of its body structure. Six legged robot can walking with different types of gaits and results the different performances of the robot. It is found that six legged robot can perform different task with different algorithms. In order to analyse the effect of different gaits to performance of six legged robot, a single task which is line following is assigned to the robot. In this project, the objectives are to implement line following behaviour to a six legged robot with tripod and wave gaits, analyse the speed of the robot and measure the error from deviation of robot from the line when the robot is moving followed the line. To achieve the objectives in this project, a six legged robot with total of 18 degree of freedom is used. In order to conduct the analysis, the line following algorithm is applied to the robot. Experiments such as the time taken to complete the path to measure speed and the measurement of error deviation between centre of robot and line are carried out to validate the performance of the proposed line following algorithm applied to the robot. By implementing the walking gaits to the robot, the movement of robot‟s legs in performing tripod gait and wave gait are observed. Based on the structure of robot, it is found out that joint angles for a single leg should be about 50˚ to allow the robot stand in stable position. The line following behaviour is implemented successfully to the robot by insert the line following circuit. All experimental results are justified with the proposed methodology.

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