Bionic Hexapod Robot and Study of Improving Walking Efficiency

By Kevin Ni

My research was to design a hexapod robot and improve its walking efficiency. I included a kinematic analysis of the robot using transformation matrices which calculates the position of the end of leg given joint positions. I also came up with an analytic approach to calculate kinematic using trigonometry instead of matrix calculation. I made a MATLAB program that implemented the kinematic calculation and presented a simple animation. Furthermore, I conducted experiments to improve its walking efficiency. The experiments aimed to find an optimal contact area that improved walking efficiency most significantly. The idea was that larger contact area could reduce pressure so that legs did not sink as much into the ground, but area that was too large could be cumbersome for walking.

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