Design and Development of Multileg Locomotive Robot for Life Threaten Areas

Abstract

The world of technology is the workbook of crises waiting to be solved, where robotics is the top-most essential technology, which is utilized for surveillance purposes to detect catastrophic events, such as detecting poisonous and explosive gases in mines, monitoring nuclear sites for contaminations and crops to determine the existence of biological threats, and inspecting buildings for gas leaks to protect human lives. The multi-legged robot has numerous capabilities, such as carrying heavy payloads, executing long-duration missions, and interacting with the environment. However, their bizarre mobility to reach everywhere in any complex territory makes them phenomenal. On the contrary, due to variation in its limb structure, the motion has several possibilities, which complicates its overall movement. For this reason, this research presents the precise locomotion of the multileg robot on any terrain. This work initially concentrates on the peculiar gaits planning, and later the kinematics analysis is carried out for the three jointed legs of a Multileg robot’s locomotion on bumpy grounds. Besides, an attempt has also been made to achieve forward kinematic analysis on the design for validation. Moreover, this paper also exhibits the model simulation through the simulation software to examine the theoretical and practical conclusive results. The motion simulation was implemented, and the results are satisfactory.