Unconventional actuating and control system for hexapod robot

This paper presents the architecture and control system for a hexapod robot with unconventional actuators. Each leg of the hexapod robot is a hyper-redundant soft robot, acted with electrorheological fluid. The possibilities of movement of the robot enable it to perform movements in any regime of movement. For example: displacement of robot body with parallel plan movement, on uneven ground, rotating around its own axis, lateral movement, climbing, etc. These movement opportunities allow using robot for special tasks such as transport explosives, exploration of natural disasters, speleological exploration, space exploration, etc. In this paper the principle of operation mathematical model, actuating and control a robot's leg is described. It also presents a virtual environment created by the author, to simulate the movements of the robot and its movement simulation result on flat ground unrestricted movement of the body.