As a part of our institute’s IEEE club, we developed a six-legged walking robot also commonly referred to as a Hexapod. This robotic platform can be used to test and verify algorithms, gaits and features of walking robots. Presently we have implemented the tripod, wave and ripple gaits. The hexapod uses an arduino mega board as the main controller board and a total of 18 servo motors are used. The hexapod robot has custom design chassis, with six identical legs distributed evenly on the body. Each leg contains three-servo motor. The two servomotors are used vertically for joints 2 and joint 1 is configured around a typical rotary joint with horizontally constructed servo motor. With each leg configuration, we have all three-servo motors confined within a small volume near the body. A play station transmitter and receiver is used to send commands to the Hexapod. The microcontroller contains all the necessarily algorithms such as Direct Servo Control, Forward Kinematics, Inverse Kinematics and gait synthesis. The hexapod is also equipped with ultrasonic distance sensors HC-SR04 – sonars. These sensors can measure distance from 2 cm to 400 cm. If the robot should walk across rugged terrain, it must be able to detect ground. Therefore each leg is equipped with force-sensitive resistors, which are better than tactile switches, because they can detect level of pressure on the leg. All sensors and servomotors are connected and driven by Arduino board. A simple GUI interface is developed in c++, which is used to control servomotors, gaits and monitor sensors of the robot.
The initial hexapod prototype is shown in the pictures.
Ritwik Avaneesh, Gabriel Thomas, Shricharna Shastri, Nikhil Sachdeva, Rahul Bose, Kumar Gautam