Locomotion strategies over obstacles for a hexapod robot using Matlab

Abstract

In this paper are presented some locomotion strategies over obstacles for a hexapod robot. It was also proposed a new design for the leg and calculated its kinematical model. Next are presented the types of the obstacles. For each type of obstacle were proposed a series of locomotion sequences. The trajectory generator for the leg tip was implemented using piecewise cubic spline interpolation method. The kinematical model, the trajectory generator and all the strategies were implemented in Matlab. The control part for the robot it is a combination between Matlab, Arduino Mega2560 development board and SSC-32 servo controller board. Next are presented the proposed locomotion strategies for each type of obstacle. The paper includes the experimental results with the physical models of the robot for locomotion over common types of obstacles.