Abstract:
This paper introduces a new hexapod robot's design methodology and control strategy.
The main goal is to develop a versatile and stable hexapod system with advanced
locomotion capabilities by using state-of-the-art robotics technology and bio-inspired
design principles. The robot is designed to be adaptable to various real-world
environments. The research examines multiple hexapod designs, each with unique
advantages. The research's significant focus is creating a sensor system that provides
the robot with environmental perception and internal state monitoring. Critical
components such as the Pimoroni Servo 2040 and Pololu Maestro are utilized to
precisely control the robot's movement servos. Structural parameters are optimized to
enhance dexterity, and a foot-force distribution and compensation model ensures
posture control. The paper also explores the challenges encountered during the
development and testing phases and detailed discussions of solutions to these
challenges, particularly in control algorithms managing locomotion. Additionally, the
design and control mechanisms are analyzed to propose advancements in the field. By
consulting experts and reviewing current research, the study identifies future areas for
innovation, aiming to empower researchers and engineers to enhance the capabilities of
hexapod robots.
