MULTILEGGED

ROBOT

ROBOT
ROBOTA Forced Labour
A mechanism guided by

automatic controls
To do the tasks that are
too dirty, dangerous,
difficult, repetitive or dull
for humans

TYPES OF ROBOTS
Mobile Robots

(i) Rolling Robots

(ii) Walking Robots
Stationary Robots
Autonomous Robots
Remote Control Robots
Virtual Robots
BEAM Robots

ROBOTS OF OUR CONSIDERATION

Two basic ways of using effectors:
to move the robot around => locomotion
to move other object around =>

manipulation
These divide robotics into two mostly separate

categories:
Mobile robotics
Manipulator robotics

MOBILE ROBOTS
(a) WHEELED ROBOTS
(b) LEGGED ROBOTS
Needs processor and actuators for locomotion
Rough terrain handling but with limitation
Discontinuous velocity
Capable of climbing
Less efficient

ADVANTAGES OVER WHEEL

More degree of freedom
Potentially less weight
Can traverse more rugged terrain
Legs do less damage to terrain
Potentially more maneuverability
Can achieve different algorithms of

locomotion
Turning radius

TYPES OF LEGGED ROBOTS

1. MONOPOD
ROBOTS

Of one leg robots the locomotion is performed

through hops

with two degree of freedom

2 . Bipod Robot

based on data retrieved from human

locomotion

are more demanding

Stability issue

3. Multilegged
Robots-

suitable for terrestrial and space applications

variable geometry,

good stability,

access to diverse terrain, and

fault tolerant locomotion

LOCOMOTION AND

First,
every robot needs to be stable
STABILITY

There

are two kinds of stability:

static and

dynamic.

In

order to remain stable, the robot's Center Of Gravity

(COG) must fall under its polygon of support.

STABILITY WITH
LEGS
HOPPING ROBOT
HUMANOIDAL
THREE LEGGED
FOUR LEGGED
SIX LEGGED
EIGHT+ LEGGED

HEXAPOD ROBOT
This robot has six legs, and each leg has servo

motors.
This robot is constructed and is designed to be
controlled remotely with the software or with
joystick of play station.
User can design this robot to perceive as well as
avoid the obstacles in front.

BLOCK DIAGRAM OF FUNCTIONING

FOR HEXABOT ROBOT

SPEACIAL FEATURES OF
HEXAPOD ROBOT

Best choice between stability and legs

Different algorithms possible

Different designs are possible

Fastest in legged robots

HEXAPOD WALKING
A simple way to think about this is by how many

legs are up in the air during the robot's movement

.
6 legs is the most popular number as they allow
for a very stable walking gait, the tripod gait .
if the same three legs move at a time, this is
called the alternating tripod gait.
If the legs vary, it is called the ripple gait.

A rectangular 6-legged robot can lift three legs at a

time to move forward, and still retain static stability.

How does it do that?
It uses the so-called alternating tripod gait, a
biologically common walking pattern for 6 or more
legs.
Characteristic of this gait:
one middle leg on one side and two non-adjacent legs on

the other side of the body lift and move forward at the
same time,
the other 3 legs remain on the ground and keep the robot
statically stable

ALTERNATE TRIPOD GIAT ALGORITHM

DIFFERENT TYPES OF LINKAGE

USED

JANSON MECHANISM

KLANN MECHANISM

STRIDE PARAMETERS
Cycle time- This is dened as the time for a complete cycle of the

leg locomotion of a periodic gait.

Transfer phase- The transfer phase of a leg is the period during

which the foot is in the air (no ground contact).

Support phase- The support phase of a leg is the period during

which the foot is on the ground and supports the robot.

Duty factor- Is the ratio of the support phase to the transfer

phase with respect to the Cycle time.

Comparison on stride
STRIDE

Strid
e
lengt
h

Lift
of

Heigh
t

Crank
Radiu
s

Directio
n
Of
Rotatio
n

Duty
Factor

1.0
0

0.32 1.85 0.22 CCW

9
2
1

0.33

1.0
0

0.52 1.94 0.24 CW

3
9
1

0.5

Compariso
n
Jansen Linkage

Klann Linkage

8 links per leg

6 links per leg

120 degrees of crank rotation per stride.

180 degrees of crank rotation per stride.

3 legs will replace a wheel.

2 legs will replace a wheel.

Counterclockwise rotation of the crank.

Clockwise rotation of the crank.

Step height is primarily achieved by a parallel

linkage in the leg that is folded during the cycle
angling the lower portion of the leg.

Jansen started in 1990 using computer models to

develop a walking linkage.
The eight-bar Jansen linkage evolved through
iterations of a computer program.

Step height is achieved by rotating the connecting

arm which is attached to the crank on one end and
the middle of the leg on the other. It pivots on a
grounded rocker.
Klann started exploring various linkage synthesis
methods in 1993 after being inspired in a
kinematics class.
The six-bar Klann linkage is an expansion of the
four-bar Burmester linkage developed in 1888 for
harbor cranes.

Application of hexapod
SARbot (Search and Rescue Robot)
Remote technical repair robot
Mobile military vehicle
Testing medical theories
Space exploration

ONGOING RESERCH
Research robotics, of course, is

studying:
single-legged,
two legged,
three-legged,
four-legged,
and other

dynamically-stable robots, for various scientific and

applied reasons.
Biology research, entertainment.
Locomotion patterns based bionics, biomechatronics

Future of hexapod
Planning can be used to compute optimal (and thus

arbitrary) trajectories for a robot to follow to get to a

particular goal location.
Needs lots servomotors and links with cumbersome
programming.
Legged wheel.

Conclusion
Statically stable walking is very energy inefficient.
As an alternative, dynamic stability enables a robot to stay up

while moving.
This requires active control (i.e., the inverse pendulum
problem).
Dynamic stability can allow for greater speed, but requires
harder control.
Balance and stability are very difficult problems in control and
robotics.
Thus, when you look at most existing robots, they will have
wheels or plenty of legs (at least 6).

REFERENCE
Alexadre, P., Ghuys, D. and Pruemont, A. 1991. 'Gait analysis and implementation of a six leg walking

machine'. Fifth International Conference on Advanced Robotics: Robots in Unstructured Environments. 19

- 22 June 1991, vol. 2. pp 941 945
Chapman, R. F. 1998. The insects: structure and function.4th ed. Cambridge University Press, New York
Ding, X., Rovetta, A., Wang, Z. and Zhu, J. M. 2010. Locomotion analysis of hexapod robot. In:Climbing

and Walking Robots(ed: B Miripour) pp 291 - 310. InTech, Italy

Home of Engineering Services Outsourcing, 2003,Future of Robotics - Robots Uses, Trends, Applications

[Online]

Karalarli, E. 2003. 'Intelligent gait control of a multilegged robot used in rescue operations' PhD Thesis,

The Middle East Techincal University

Mushrush, D. L. and Spirito, C. P. 1978. Interlimb coordination during slow walking in the cockroach. The

Journal of Experimental Biology. 78, 233 - 243

THANKS