Omni-Directional Hexapod Walking Robot

Chang , Nen E (2007) Omni-Directional Hexapod Walking Robot. Project Report. UTeM, Melaka, Malaysia. (Submitted)

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Abstract

The walking robot requires high manipulability and mobility in most of its applications, which normally operate in complex environments such as outdoor rough terrain or uneven floors such as steps. It is essential for a legged robot to walk in omni direction. From the expected navigation task, differences existing between wheeled and legged robots are legged robots can be performed better in terms of mobility. Thus, the legged robot should be designed taking this omni-directional mobility aspect into account. Based on the complicated structure designed, some specific techniques arc proposed for navigation control, sensing and map usage, path planning, body movement, and gait generation. In this project, the gait pattern of omni-directional hexapod walking robot will be studied and developed. The structure of the robot consists of six limbs with 3 DOF each. The microcontroller will be used to implement the walking gait to control the movement of the robot. To enhance the mobility of the robot, sensor will be added to detect the obstacle and has ability to avoid it.

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