Design, Construction, and Rough-Terrain Locomotion Control of Novel Hexapod Walking Robot With Four Degrees of Freedom Per Leg

Multi-legged walking robots are suitable platforms for unstructured and rough terrains because of their immense locomotion capabilities. These are, however, redeemed by more sophisticated control energy-demanding motion in comparison to wheeled robots. Particularly, electrically actuated multi-legged suffer from the adverse ratio between robot body weight payload capacity. Moreover, speed endurance is far what can be achieved with In this paper, we focus on six-legged statically-stable gait. Based analysis existing solutions, propose a novel construction affordable substantial improvements its capabilities, speed, reliability, endurance. The proposed design implemented Hexapod Ant Robot (HAntR) that accompanied developed approach improve negotiation capabilities active distribution legs stance phase. Properties have been experimentally verified extensive deployments, based experimental benchmarking built prototype, HAntR capable over an hour 85% weight, maximum crawled distance per one second 87% nominal length. represents significant not only regarding identical actuators but also other platforms. Therefore, consider step further towards wide range future applications deployments