Analysis of rectangular base hexapod using tripod walking gait on different surfaces

Md Yazid, Mohd Akhmal Syafi (2020) Analysis of rectangular base hexapod using tripod walking gait on different surfaces. Project Report. Universiti Teknikal Malaysia Melaka, Melaka, Malaysia. (Submitted)

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Abstract

Surveillance robot becomes important part of rescue missions. It helps rescuer to get knowing unfamiliar places and possible survivor before any move or strategy is carried out. The early development of surveillance robot is dominated by wheel and track type chassis robot. However, there is limitation constrain of available wheel and track robots as they not able to srpass many of found difficulties like uncontinuous surfaces or higher obstacle. Hence, in this project will focus on design and development hexapod legged robot as modern solution of uneven terrains. Objective of this project are to design and develop rectangular base hexapod using tripod walking gait and then analyse it basic walking performance on difference surfaces chosen which are carpet, cement floor, tar road and short grass surfaces. As to achieve high reliability movement, hexapod tripod gait are embedded with Lagrange Interpolation Polynomial technique to improve servo accuracy along with inverse kinematic and Third-Order Interpolation Polynomial path trajectory planning. Overall result of basic walking test show that hexapod successfully walking through all the surfaces tested although have some losses on actual distance travel due to surface obstacle and slipping. Repeatability result of hexapod also provide acceptable repeatability precision since hexapod able to achieve standard deviation as low as 0.18cm on grass and only up to 1.87cm on tar road surface.

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