Mechanical and walking optimization of a hexapod robot using PSO

Abstract

In this paper a novel solution is introduced for determining the dimensions and construction of a walking robot using an optimization method. During our previous research and development several hexapod walking robots have been built. The latest model called Szabad(ka) II is a complex, servo motor driven, multiprocessor device made of aluminum and steel. Prior to its construction sophisticated modeling was carried out, with special attention to the smallest physical, mechanical and electrical parts. With this model the functionality of the robot could be checked before the manufacturing process. For the time being, modeling was used only for verifying the construction, but as the next step it will be used for defining the construction and dimensions. Manually this is practically impossible, therefore the process requires automatization. The definition of the optimal parameters can be solved with optimization methods. For the task the Particle Swarm Optimization (PSO) was chosen.