Design and simulation of a cockroach-like hexapod robot

This paper describes the design and simulation of a cockroach-like hexapod robot which is under construction for the purpose of testing control principles which are being extracted from the cockroach. The cockroach was chosen because of its remarkable running and climbing capabilities and because much is known about its biomechanics and control. The robot is designed with five, four, and three degrees of freedom in the front, middle and rear legs, respectively, to permit it to mimic the different functions of cockroach legs. Pneumatic cyli nders actuate each joint and provide opposing muscle-like forces to actuate the joints. Pulse-width modulation co ntrols the actuators with the necessary smoothness and precision. A dynamic simulation has been developed to predict loads on the structure and the required joint torques.