Design and implementation of a hexapod with 2-Degree-Of- Freedom legs and its fuzzy-controller for the obstacle avoidance

Abstract

In this work, the design of a six-legged walking machine, named MPS-I, is presented, where a hexapod with 2-Degree-Of-Freedom (DOF) legs is designed and implemented. To make the MPS-I intelligent, a fuzzy logic based controller design is discussed and its implementation is presented. This controller makes MPS-I capable of easily navigating through obstacles.