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

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4 Author(s)

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.

Published in:

Electrical Engineering, 2007. ICEE '07. International Conference on

Date of Conference:

11-12 April 2007