Sunday, December 21, 2008

Hexapod Robot I

Mike Smyth's Hexapod Robot

This is my autonomous hexapod robot that I built a few years ago.
It uses 12 R/C servos for actuators. The 6 that raise and lower
the legs are Hobbico CS-72 1/4 scale and the 6 that move the legs
forward and backward are several brands of standard 1/10
scale servos

Robot III

a hexapod with kinematics based on studies of the cockroach
Blaberus discoidalis performed in the Ritzmann Lab in the
Biology Department at CWRU. It has a total of 24 degrees of freedom
with five for each front leg, four for the middle legs and three for the rear
legs. The robot is pneumatically actuated using off the shelf cylinders and
blocks of three-way pneumatic valves. Pulse width modulation of the
valves is implemented for variable position control of the cylinders.
The structure of the robot is machined from high grade aluminum alloys.

Bio-Robotic Choreography

The 6-legged robot will use a pentagraph mechanism where the
movement of the foot is mirrored by the joint at opposite end. The
effect is that the robot is hanging from a virtual pendulum in the sky.
This will help the robot to stay on it's feet. Stationary it will be nearly
5 metres across and measure 2 metres from knee to foot.
The designers are hoping to limit the weight to less than 250 kgs.


RHex is a small, power and computationally autonomous hexapod
robot with passively compliant legs. Its basic design incorporates
only one actuator per leg, capable of achieving fast (~2.5m/s)
and robust locomotion over complex outdoor terrain. As a result
of the minimal use of exteroceptive sensing, most of its behaviors
are task-level open loop, driven by an internal clock. These basic
behaviors rely on a human operator for more complicated
tasks such as navigation.

Hexapod Robot

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