Design and Development of a Six-Legged Robot with Simplified Control Architecture

A six-legged robot named 'Mechatron-1' has been developed. This paper contains a description of the design and working of the robot. A thorough study of its leg motion has been done in order to perform a stability analysis based upon the minimum longitudinal stability margin criteria. The main emphasis in the robot's structural design was to reduce the controller complexity required for proper operation. Mechatron-1 is a wave gait robot designed for general applications in everyday human environment.