Experiences on a hybrid locomotion approach to overcome obstacles with Cassino Hexapod III

Abstract

This paper describes the Cassino Hexapod III, a hybrid omniwheeled-legged hexapod robot, which has been designed and built at LARM in Cassino. Hybrid locomotion of the robot is simulated in a MATLAB environment. Namely, four different paths are simulated as a strategy for overcoming small obstacles. The implementation of the proposed path planning is achieved by using an Arduino script in combination with a specifically developed Android interface. Experimental tests are carried out to demonstrate the engineering feasibility and effectiveness of the proposed paths for overcoming obstacles with Cassino Hexapod III.