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Electronics And Communication

Hexapod

ABSTRACT
Hexapod can be described as the current pinnacle of technical development. Robotics is a confluence science using the continuing advancements of mechanical engineering, material science, sensor fabrication, manufacturing techniques, and advanced algorithms. The study and practice of robotics will expose a dabbler or professional to hundreds of different avenues of study. For some, the romanticism of robotics brings forth an almost magical curiosity of the world leading to creation of amazing machines. A journey of a lifetime awaits in robotics. Robotics can be defined as the science or study of the technology primarily associated with the design, fabrication, theory, and application of robots. While other fields contribute the mathematics, the techniques, and the components, robotics creates the magical end product. The practical applications

of robots drive development of robotics and drive advancements in other sciences in turn. Crafters and researchers in robotics study more than just robotics. The promise of robotics is easy to describe but hard for the mind to grasp. Robots hold the promise of moving and transforming materials with the same elan and ease as a computer program transforms data. Today, robots mine minerals, assemble semi-processed materials into automobile components, and assemble those components into automobiles. On the immediate horizon are self-driving cars, robotics to handle household chores, and assemble specialized machines on demand. It is not unreasonable to imagine robots that are given some task, such as reclaim desert into photovoltaic cells and arable land, and left to make their own way. Then the promise of robotics exceeds the minds grasp. Robot used in English describes any construct that automates some behavior. For example, a garage door opener automates the behavior of opening a door. A garage door opener has a sensor to detect the signal from the remote control, actuators to open the door, and a control system to stop turn off the motors and lights when the garage is fully closed.

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Electronics And Communication

Hexapod

1.INTRODUCTION
Hexapod Legged walkers are a class of robots that imitate the locomotion of animals and insects. Legs provide the potential to transverse rough terrains that are impassable by wheeled vehicles. It is with this in mind that roboticts are developing walker robots. Legged walkers may imitate the locomotion style of insects, crabs, and sometimes humans Biped walkers require balance and a good deal more engineering science than multi-legged robots

Using a six legged model, we can demonstrate the common tripod gait used by the majority of legged creatures. In the following drawings a dark rectangle means the foot is firmly planted on the ground and is supporting the weight of the creature (or robot). A light rectangle means the foot is not supporting any weight and is movable.

All six feet are on the ground. From the resting po sition our walker decides to move forward. To step forward, it lifts three of its legs leaving its entire weight distributed on the remaining three legs (dark rectangles). Notice that the feet supporting the weight (dark rectangles) are in the shape of a tripod.

A tripod is a very stable weight supporting position. Our walker is unlikely to fall over. The three feet that are not supporting any weight may be lifted (white rectangles) and moved without disturbing the stability of the walker. These feet move forward At this point, the walkers weight shifts from the stationary feet to the moved feet .Notice that the creature s weight is still supported by a tripod position of feet. Now the other set of legs moves forward and the cycle repeats. This is called a tripod gait, because a tripod positioning of legs always supports the weight of the walker

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Electronics And Communication

Hexapod

2.HEXAPOD WAILKER
There are different ways of moving a robot. The Ad Hoc robot was built with two wheels, which were run independentlyof each other using two separate 12 V motors. This made it possible for the robot to turn around on the spot if necessary,by running the wheels in opposite directions. In order for the robot to keep its balance, a small, smooth piece of Lego,placed in the front, was used for support. For navigation the team used a behavioral approach. The idea was to program the robot with several behaviors, active atthe same time. They were all to have their own will, and then some coordinator was to combine these wills, and produce some appropriate action for the robot. Each behavior should produce a wish vector, telling the direction in which the behavior wanted to go. This way all the behaviors got to tell their wish, and then vector summation was used to calculate a final direction for the robot. Depending on in which state the robot was (having the puck or not) the different behaviors wishes were assigned different weight, which were used in the vector summation. There were five different behaviors in the robot. The find puck behavior always wanted to go toward the puck, unless the puck already was in the robotspossession. If the robot for some reason didnt see the puck, it simply spun around, trying to locate the puck. The get puck to goal behavior always wanted to go toward the offensive goal, as long as the robot had thepuck. Avoid obstacles behavior if the robot ran into something, this behavior tried to go in a different direction from the original one. It also stopped the robot from going into a goal zone. Avoid opponent behavior tried to get the robot not to run into the opponent. Random behavior produced a random (small) wish. This was to avoid that the other behaviors would sum up to a no wish, i.e. to wish the robot in exactly opposite directions. A small random vector wouldnt affect the behaviors normally, but in such a case it could add enough to get the robot out of the clash.
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Electronics And Communication

Hexapod

Six Legs Tripod Gait


Using a six legged model, we can demonstrate the common tripod gait used by the majority of legged creatures. In the following drawings a dark rectangle means the foot is firmly planted on the ground and is supporting the weight of the creature (or robot). A light rectangle means the foot is not supporting any weight and is movable.

This information was used for estimating whether the robot was going into a goal zone or not, which was not allowed.Since the field had a black stripe for marking the middle of the field, the reflex detectors together with information from the IR sensors were used to estimate if the robot was in a goal zone or merely on the middle field stripe. So if the reflex detectors signaled black surface, and the IR sensors signaled goal proximity, then robot was positioned in a forbidden zone, and hence had to quit going in that direction.

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Electronics And Communication

Hexapod

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Electronics And Communication

Hexapod

Three Servomotor Walker Robot


The robot we will build is shown in Fig. 2. This hexapod walker robot is a compromise in design, but allows us to build a six legged walker using just three servomotors. The three servomotor hexapod walker demonstrates a true tripod gait. It is not identical to the biological gait we just looked at, but its close enough. This legged hexapod uses three inexpensive HS322 (42oz torque) servomotors for motion and one AVR Atmega16 microcontroller for brains. The microcontroller stores the program for walking, controls the three servo-motors, and reads the two sensor switches in front. The walking program contains subroutines for walking forward and backward, turning right, and turning left. The two switch sensors positioned in the front of the walker inform the microcontroller of any obstacles in the walkers path. Based on the feedback from these switch sensors, the walker will turn or reverse to a void obstacles placed in its path. Function The tripod gait programmed into this robot isnt the only workable gait. There are other perfectly usable gaits you can develop on your own. Consider this walking program a work-ing start point. To modify the program, its important to understand both the program and robot leg functions. First lets look at the robot. At the rear of the walker are two servomotors. See figure 3 to left. Center legs are not shown for simplicity. One servomotor is identified as L for the left side, the other as R for the right side. Each servomotor controls both the front and back legs on its side. The back leg is attached directly to the horn of the servomotor. It is capable of swinging the leg forward and backward. The back leg connects to the front leg through a linkage. The linkage makes the front leg follow the action of the back leg as it swings forward and back. The third servomotor, see figure 4 controls the two center legs of the walker. This servomotor rotates the center legs 20 to 30 clockwise (CW) or counterclockwise (CCW), tilting the robot to one side or the other (left or right). With this information we can examine how this legged robot will walk.

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E l e c t r o n i c s A n d C o m m u n i c a t i o n

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E l e c t r o n i c s A n d C o m m u n i c a t i o n

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Electronics And Communication

Hexapod

Moving Forward
We start in the rest position (see Fig. 5). As before, each rectangle represents a foot, and the dark rectangles show the weight bearing feet. Notice in the rest position, the center legs do not support any weight. These center legs are made to be 1/8 shorter than the front and back legs. In position 5A the center legs are rotated CW by about 25from center position. This causes the robot to tilt to the right. The weight distribution is now on the front and back right legs and the center left leg. This is the standard tripod position as de-scribed earlier. Since there is no weight on the front and back left legs, they are free to move forward as shown in the 5B position of Fig. 5.

Figure 5

In the figure 5C position the center legs are rotated CCW by about 25 from center posi-tion. This causes the
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Electronics And Communication

Hexapod

robot to tilt to the left. The weight distribution is now on the front and back left legs and the center right leg. Since there is no weight on the front and back right legs, they are free to move forward, as shown in the 5D position. In posi-tion 5E the center legs are rotated back to their center position. The robot is not in a tilted position so its weight is distributed on the front and back legs. In the 5E posi-tion, the front and back legs are moved backward simultaneously, causing the robot to move forward. The robots position in 5F is the same as the rest starting position and the forward walking cycle can be repeated.

Moving Backward
We start in the rest position (see Fig. 6), as before. In position A the center legs are rotated CW by about 25 from center position. The robot tilts to the right. The weight distribution is now on the front and back right legs and the center left leg. Since there is no weight on the front and back left legs, they are free to move backward, as shown in the B position of Fig. 6. In the 6C position the center legs are rotated CCW by about 25 from center position. The robot tilts to the left. Since there is no weight on the front and back right legs, they are free to move backward, as shown in the 6D position. In position 6E the center legs are rotated back to their center position. The robot is not in a tilted position, so its weight is distributed on the front and back legs. In the 6E position, the front and back legs are moved forward simultaneously, causing the robot to move backward. The robots position in 6F is the same as the rest starting position and the backward walking cycle can be repeated.

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Electronics And Communication

Hexapod

Figure 6

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Electronics And Communication

Hexapod

Turning Left
The leg motion sequence to turn left is shown in Fig. 7. In position 7A the center legs are rotated CW by about 25 from center position. The robot tilts to the right. The weight distribution is now on the front and back right legs and the center left leg. Since there is no weight on the front and back left legs, they are free to move forward. In the 7B position, the center legs are rotated CCW by about 25 from center position. The robot tilts to the left. Since there is no weight on the front and back right legs, they are free to move backward, as shown in the 7C position. In position 7D, the center legs are rotated back to their center position. The robot is not in a tilted position, so its weight is distributed on the front and back legs. In this position, the left legs moved backward while the right legs moved forward, simultaneously causing the robot to turn left. It typically takes three or four turning cycles to turn the robot a full 90. Figure 7

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Electronics And Communication

Hexapod

Turning Right
Turning right follows the same sequence as turning left, with the leg positions reversed.

Hexapod Body Construction

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Electronics And Communication

Hexapod

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