Abstract: | The crawlers have great potential to be successful in a rough environment due to their high motion capabilities. Along with other internal or external sensors like range-finder, force sensitive sensors, camera, etc., the robot can become an autonomous agent with very high efficiency.
In contrast with other approaches, a mass produced hexapod robot without any additional sensors is used in this thesis. The only information about the environment comes from its own actuators.
A custom gait which allows the robot traversing rough terrain based on the internal sensors only and with continuous support of at least five legs is developed for this robot.
|
---|