Optimization of hexapod robot locomotion

Abstract

Hexapod robot moving through irregular terrain must adapt it's locomotion in order to sustain stable and fast movement. Chosen gaits and control methods have to vouch an optimal leg positioning and coordination. An inverse kinematics method is introduced for positioning legs to a needed point. Means of leg contact with ground indications using tactile sensors are discussed and their influence to robot control is discussed. Simple obstacle detection method using IR sensors is presented. Aim is to adapt all these methods into a real-time control system.