Reconfigurable Locomotion of Hexapod Robot Based on Inverse Kinematics

Abstract

In our days, robotics development grow and became fast changing industry, robots spread over the world far more than any time before. Most of all, robots have presented by manufacturing robots, but robots capable to move can be more flexible to give a solution to even new kinds of problems. Hexapods are one of those kind of robots. Today they are widely known, but they are not widespread, despite their advantages, and most frequently using in research purposes. One of the main problem is that locomotion can be done by many different gaits. At the same time, hexapods have six legs, that leads to complexity of control algorithm, which must provide correct positioning for all legs at any moment in time. But to simplicity, often only one specific gait is using. In this paper, we propose system that is able to work with multiple gaits simultaneously. This system allows robot to use different methods of locomotion which are more efficient in specific situations. As a proof of concept was implemented control software. It respond for locomotion, saving different gaits and their switching, even in movement. The result of the paper is an automated robot locomotion system.