Implementation of Inverse Kinematics for the Coordination Control of Six Legged Robot

Abstract

Si.\' Icgged robot, or hexapod, is a kind of Icggeci robots with static stabillty. The robot has mallv variants of leg movement s. This should be taken into consideration by the robot designer. The research is to adopt a leg ~ol'ement algorithm named tnverse killemalics./III.erse kincmatic s is used to find each leg t6/gle requircd /0 produce certain position of the end-effector. The experiments show that pulse width input can mOl'e the robot foster than that with end-effector displacement distance input. However, the distance input is more flexible due 10 iIS simplicity such that the user can input the desired end-effector displacement distance without relying on the pre-determined distances. The inverse kinematics algorithm has been developed, although it is not able to avoid or circumvent the barriers.