DESIGN AND IMPLEMENTATION OF AN INTELLIGENT HEXAPOD

Robots are used to replace humans in some hazardous duty service like bomb
disposal and capture information on places that cannot be reached. However, most of
the robots used are wheeled robots. Walking machines have the potential to
transverse rough terrain that is impossible for standard wheeled vehicles. The
mobility of animals, including many insects is typically superior to current legged
robots. However, the reality of current technology often encourages engineers to use
different designs for the purposes of reducing the number of actuators or simplifying
control problem. Thus, the main aim of this project is to design and implement a
hexapod walking robot using servo drive mechanism and light weight material for
easier control. The project includes constructing the hardware of the machine which
is building the structure using appropriate material. The structure is built in the
workshop by hand. All sawing and drilling is done using the equipment available in
the workshop in Building 22, UTP. To have a stable and rigid structure, the machine
is designed to be at its minimum size. This hexapod is designed to move using tripod
gait controlled by 3 servo motors. The whole structure is controlled by
microcontroller PIC16F877 programmed using C language. The hexapod is able to
be controlled manually to move forward, reverse, turning left and right. The walking
can be adjusted in 3 different speeds. This hexapod has the object avoidance
intelligence using limit switches. The hexapod is able to reverse and find a new
walking path if it encounters objects in front of it. With the wireless camera attached
in front of the structure, it is able to be used for remote monitoring and rescue
operations. The final design is cost effective, light, robust, has easy control and
intelligently applicable.