System and walking gait design for hexapod search and rescue robot

Abstract

In order to adapt to the complex disaster environment, this paper considers the system design of hexapod search and rescue robot. Such hexapod robot is suitable to different kinds of roads and obstacle, which can avoid to the shortcomings of crawler robots. This hexapod search and rescue robot includes the six foot body, voice modular, obstacle avoidance and remote monitoring function. Based on the relationship between the center of gravity and the supporting polygon, the design of the hexagon robot’s walking gait is presented. The feasibility of the hexapod search and rescue robot is verified by the prototype experiment.