Designing and Constructing an Autonomous Hexapod Robot With Obstacle Avoidance Using Ultrasonic Sensor
This thesis is intended to build an autonomous hexapod robot with the ability of avoiding obstacle with the help of the feedback from ultrasonic sensor. the mechanical design of the robot is adopted from the hexapod robot called RHex. It has six compliant legs which each has one degree of freedom. This robot uses the ripod gait that provides stability to the robot while walking through any kinds of terrain. once there is an obstacle at a certain distance that blocks the way of the robot, the ultrasonic sensor will tell the microcontroller to turn and find the other way that can be used by the robot.
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