Abstract
The purpose of this paper is to develop a hexapod robot that uses shape memory alloy (SMA) actuators. The design of the robot follows a bio-mimetic approach. This paper first discusses various gaits for six-legged motion. The paper then introduces the characteristics of the SMA actuator and the corresponding driver design. The robot motion controller is implemented with an ARM9 based embedded system. Finally, the test results are presented and the robot performance is discussed.
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