OMNI - Directional Hexapod Walking Robot

Yew, Soo Guan and Nurulfajar, Abdul Manap and Nor zaidi, Haron (2006) OMNI - Directional Hexapod Walking Robot. Project Report. UTeM, Melaka, Malaysia. (Submitted)

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Abstract

The outdoor mobile robots require high manipulability and mobility in most or its application . Multi-legged robots are expected to perfom in complex environment such a outdoor rough terrain and indoor uneven floors such a steps. 'I he majority of hexapod robots constructed ha\·e an insect-like structure with the limb located laterally on the body in three opposing pairs. In actual tasks. it is more essential for a legged working robot to walk in any direction smoothly while maintaining its stability. Thus the hexapod robot should be designed taking this omni directional mobility aspect into account. In this research. a prototype working robot will be constructed based on radial arrangement to achieve better mobility and manipulability. The fundamental issue in the control of gait generation will be studied !o determine the movement for each leg to follow a desired trajectory.

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