Hexapod guidance and control for autonomous waypoint navigation over uneven terrain

Abstract

This paper presents a novel hexapod guidance and control system that enables an autonomous hexapod robot to walk over uneven terrain while navigating waypoints and keeping its central body level. The system uses a depth camera to determine the terrain heights at the horizontal locations where the hexapod plans to place its feet. The guidance and control software has been implemented in the Robotics Operating System and has been verified in simulation using the Gazebo simulator. A physical hexapod robot has been constructed and practical tests are currently being performed to validate the system.