DESIGN AND CONTROL OF SPIDER ROBOT MODEL

Abstract

Robots imitating spider’s moving have many advantages such as flexible movement, high stability, diversity in movements performed, especially in terrain  crossing, in military reconnaissance, in surveying and collecting environmental data in dangerous areas,.... In this article  with the main objective is to exploit multiple control methods to support applications of a spider robot with low-cost, a spider robot with 6 legs and 18 joints was designed. The ESPWROOM-32 module (ESP32-D0WDQ6 chip) and MIT App Inventor were used as the main tools for conducting this research. As a result, the robot is controlled via Bluetooth and Wifi to move, making some actions by self-written software running on the Android operating system. In addition, the robot has the capacity of self-propelled to avoid simple obstacles and send some environmental parameters to the software, including obstacles distance, humidity and temperature.