Design of Six Legged Spider Robot and Evolving Walking Algorithms

摘要

In this paper, the development of a legged robot which have needed features for search and rescue operations to access to survivors is aimed. Different walking algorithms are designed for this purpose and tested their performance. Six-legged walking robot is affected by environmental conditions thus encountered conditions are minimized. Additionally, the search team which is exposed to the risk of accidents is reduced and more detailed. The investigation about the possibility of problems such as accident, battery life is largely scaled. Control of robot is provided via communications port on computer. The legged robot inspired by spider is developed with the control mechanism and executes various walking behavior. The effectiveness of the robot is measured according to the performance on rough terrain through six legs. Functional algorithms are built for flexible motion against different conditions such as rough terrain, pit. In the same time, the algorithms moving at various speeds related to structure of legs are presented. The robot used in the project is called as TKSPIDER1 which has three servo motors in each leg.