Control of a Hexapod Robot Considering Terrain Interaction

TL;DR

This paper introduces a control architecture for hexapod robots that enables full control over movement and gait, incorporates terrain-adapting algorithms, and validates the approach through simulation and real-world experiments.

Contribution

It proposes a novel terrain-adapting control algorithm and a dynamic model for hexapod robots, validated via simulation and experimental testing.

Findings

Successful development of terrain-adapting control algorithm

Validation of dynamic model through Matlab SimMechanics

Experimental results demonstrating stable movement on varied terrain

Abstract

Bio-inspired walking hexapod robots are a relatively young branch in robotics in both state of the art and applications. Despite their high degree of flexibility and adaptability derived by their redundant design, the research field that compliments their abilities is still very lacking. In this paper will be proposed state-of-the-art hexapod robot specific control architecture that allows for full control over robot speed, body orientation and walk gait type to employ. Furthermore terrain interaction will be deeply investigated, leading to the development of a terrain-adapting control algorithm that will allow the robot to react swiftly to terrain shape and asperities such as non-linearities and non-continuity within the workspace. It will be presented a dynamic model derived from the interpretation of the hexapod movement to be comparable to these of the base-platform PKM machines, and said model will be validated through Matlab SimMechanicsTM physics simulation. A feed-back control system able to recognize leg-terrain touch and react accordingly to assure movement stability will then be developed. Finally results coming from an experimental campaign based of the PhantomX AX Metal Hexapod Mark II robotic platform by Trossen RoboticsTM is reported.