Locomotion Control of PhantomX Hexapod Robot with Touch-Pressure Sensor and RoboComp

The present paper was developed in order to show the feasibility of using touch-pressure sensors and RoboComp framework, in the PhantomX hexapod robot, so that it can develop displacement. Previously, the robot included some complementary tools to its default version, so that it can develop two types of gait: regular and adaptive. A comparison of results was developed between two types of gates based on the calculation of joints angles from the kinematic model of the robot. For the adaptive gait, a stabilization system was developed with the use of touch-pressure sensors to locate the support points on which the robot's legs can be kept stable. The results show that the robot can perform movements in a satisfactory way, although a small difference is generated between the trajectories sent and trajectories executed due to the use of some tools and software, this does not prevent good performance in locomotion.