Adaptive Velocity Control for a Walking Robot in Low-Traction Environments

This paper describes the design, implementation, and control of a walking six-legged hexapod robot intended for low-traction environments. The robot is 3D printed and implemented using various electronic components, including inertial measurement units (IMUs) to detect a loss of traction. The hexapod robot is controlled by a negative feedback system that dynamically controls the speed of walking on terrain with a low amount of traction. The data collected by the IMUs is used to adjust the robot's velocity so that the speed at which it travels permits it to move without losing traction. The results are verified and validated using extensive experimentation.