Hexapod Robot, Basic Obstacles Strategies and Simulation Results

Abstract:
For the case of a hexapod robot, this paper pre-sents some theoretical aspects regarding strategies of locomotion over different obstacles in desired conditions. Next are analyzed the most common types of obstacles and the influence upon ro-bot locomotion. Since a certain correlation between the robot and the size of the obstacles is evident, to which may be added supplementary requirements imposed by the user, certain math-ematical relations of dimensioning are included. Simulation re-sults and some basic locomotion simulations are finally included. They are produced with a dedicated software platform, created in Matlab, for studying hexapod robot stability and behavior.