Multi-directional hexagonal robot with stair-climbing capability (HERO)

• Main Authors: Despi, Jay Benedict W., Manuel, Arnold P., Ricarte, Giff D., Uy, Jonathan T.
• Format: text
• Language: English
• Published: Animo Repository 2001
• Subjects: Mobile robots; Robots, Industrial; Robots > Programming
• Online Access: https://animorepository.dlsu.edu.ph/etd_bachelors/14623
• Institution: De La Salle University

Typical mobile robots have limited mobility in structured places thereby decreasing the robot's efficiency. The loss of the efficiency of these robots brought a research for mobile (legged) robots into action. This research is geared towards the development of a legged robot capable of traversing leveled terrain as well as staircases. The thesis entitled, Multi-Directional Hexagonal Robot with Stair-Climbing Capability (HERO), is a microcontroller-based six-legged hexagonal robot. It is designed to have greater mobility through its hexagonal body. Legs positioned on every side of the body achieve the system's multi-directionality. Each leg of the system can function as the front leg depending on the direction of the movement. In this robot design, the functionality and performance of the legs have been taken into great consideration dividing the development of the system into several modules. This thesis focused mainly on the development of the system's leg design and functionality. The design and functionality of HERO's leg(s) has been created to satisfy the parameters that have been set for the whole system. The core of the leg's functionality rests on its programming. The programming of the legs included an accurate motor armature-positioning algorithm enabling the leg system to employ high-torqued motors for its joints. Additional programming specification of the leg included the functions of the legs of the system. Locomotion is achieved through a tripod gait with 6 direction movements, namely the front, back, front-left, front-right, back-left and back-right. HERO's leg design and functionality can either be used to create and assemble the complete HERO system or as cornerstone for other legged-robot projects in the future.