Hexapod Robot Navigation Using FPGA Based Controller

Abstract

In order to improve efficiency and achieve higher performance, motor control mechanism on a robotic platform realized by microcontroller-based system last time is changing with the reconfigurable hardware platforms. This paper presents the field programmable gate array (FPGA) implementation of the hexapod robot navigation using the tripod gate sequence. The servo motor controller is implemented in the Cyclone IV FPGA chip by Altera using Verilog as Hardware Description Language (HDL). The implementation of the servomotor controller in FPGA has several advantages as circuit design flexibility and parallel command executions when compared to the conventional microcontroller-based system. Particular advances introduced in this field have impact on motor control design of multiple-output requirements as well as parallel co-work of multiple robotic platforms in different applications in scope of the Industry 4.0.