An Autonomous System for the Locomotion of a Hexapod Exploration Robot

Ptinto is a hexapod robot designed to keep the equilibrium when moving around rocky and cumbersome areas during the exploration of the Tinto river in Huelva (Spain). We have developed an integrated planning and scheduling system called PIPSS to control the locomotion of the P-Tinto robot. PIPSS tries to make the better moves for the legs in order to keep the right balance and calculate the trajectory between two points. It exchanges information with an executor system that execute the plan, and in case there are some obstacles that Ptinto cannot avoid, a new trajectory will be re-calculated.