Dynamic stability algorithm for a Hexapod Robot

Abstract

Navigation on different types of terrain has formed a barrier in usage of robots across various fields. Legged robots have more maneuverability compared to wheeled robots and can able to traverse on any kind of surface. Hexapod is a six-legged robot which is statically stable and can navigate on uneven surface. This work focuses on developing a stability algorithm using a closed loop control system with Inertial Measurement Unit as feedback sensor. Control system is used to calculate the motor angles in order to achieve stability over inclined surface. The proposed algorithm aims in selecting appropriate motors to control by moving it to the angle generated by the control system. The algorithm was implemented and tested on Amrita Hexapod Robot (AHR) platform.