Design, Analysis and Experiments of Bionic Hexapod Robot with Multilayer C-shape Legs for Unstructured Terrain

Abstract

Wheeled robot seems to be the best vehicles, however it can’t pass unstructured terrain; tracked robot has the ability to go through unstructured terrain, but it has the disadvantages of heavy mass and poor speed. In order to conquer those shortcomings, this paper proposes a novel hexapod robot, which can move fast and even climb stairs easily. Firstly, the design of hexapod robot is explained with our unique multilayer C-shape legs, which are developed to effectively reduce stress concentration problem on leg. Secondly, a complete dynamic analysis is made to prove the feasibility of structure and algorithm. Thirdly, an intelligence control algorithm is developed to improve the robustness. Moreover, the simulation and physical experiment results are given to verify the proposed design and algorithm.