Abstract
The objective of this paper is to develop the control system for driving a mobile robot using the Arduino board, controlled by an ESP 32 logic processor, named SPIDER4LEGS. In order to be used in the oil and gas industry, for example for the internal inspection of oil product transport pipelines, the four-legged spider type robot version was chosen, especially due to the special mobility it offers. The created control system must ensure the control of the movement of the kinematic couplings in the construction of the legs, the monitoring and maintenance of stability as well as the establishment of the optimal stepping sequences. The control system is simple and it use the Wi-Fi communication, because it is the best way to transfer data between the robot and the operator, offering a lot of advantages.
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