The System Design and Gait Planning for Walking-Climbing Hexapod

Abstract

In this paper, a service hexapod robot named WeLCH is designed and implemented for the inspection of glass screen walls. To meet the deployment requirements, the structure design and hardware system construction of the walking-climbing hexapod robot are analyzed, and the accompanying software system is designed and implemented using the Robot Operating System (ROS). The gait planning of walking and climbing over vertical walls is studied and put forward. Finally, the reliability of the proposed system design and the validity of gait planning are verified through simulation on ROS and field testing using the live robot platform.