Development of a Walking Robotic Hexapod Platform
Faculty Mentor Name
Iacopo Gentilini, Rick Magnum
Format Preference
Poster Presentation and Demonstration
Abstract
The purpose of this project was to design and build a robot capable of competing in the 2017 RoboGames Walker Challenge and interfacing with the optionally attached manipulator. The competition consists of a 3-meterlong course covered with various objects to create an unstable surface, which the hexapod must be capable of traversing quickly. The hexapod must also be capable of interfacing with the attachable manipulator, mechanically and electrically, and communicating via software. While this robotic hexapod has been designed to complete a specific task, the long term intent is for this project to become a prototype for future projects. There are several applications in which a walking mobile robot would be more useful than a wheeled one. Walking robots are capable of navigating more treacherous terrain, such as stairs or rubble in a condemned or burning building. Additionally, hexapods can utilize a variety of gaits which allows them to optimize their movement. A wave gait offers the most amount of stability and least amount of speed with five legs always in contact with the ground, a tripedal gait offers a moderate amount of stability and speed with three legs always in contact with the ground, and a bipedal gait offers the least amount of stability and most speed with two legs in contact with the ground. This project implements a tripedal gait to allow for quick completion of the Walker Challenge while also maintaining mechanical stability.
Eagle Prize Award
Location
AC1-ATRIUM
Start Date
3-31-2017 11:00 AM
End Date
3-31-2017 3:00 PM
Development of a Walking Robotic Hexapod Platform
AC1-ATRIUM
The purpose of this project was to design and build a robot capable of competing in the 2017 RoboGames Walker Challenge and interfacing with the optionally attached manipulator. The competition consists of a 3-meterlong course covered with various objects to create an unstable surface, which the hexapod must be capable of traversing quickly. The hexapod must also be capable of interfacing with the attachable manipulator, mechanically and electrically, and communicating via software. While this robotic hexapod has been designed to complete a specific task, the long term intent is for this project to become a prototype for future projects. There are several applications in which a walking mobile robot would be more useful than a wheeled one. Walking robots are capable of navigating more treacherous terrain, such as stairs or rubble in a condemned or burning building. Additionally, hexapods can utilize a variety of gaits which allows them to optimize their movement. A wave gait offers the most amount of stability and least amount of speed with five legs always in contact with the ground, a tripedal gait offers a moderate amount of stability and speed with three legs always in contact with the ground, and a bipedal gait offers the least amount of stability and most speed with two legs in contact with the ground. This project implements a tripedal gait to allow for quick completion of the Walker Challenge while also maintaining mechanical stability.
Eagle Prize Award