In this thesis, we make the small six-legged walking robot for an experiment and devise an efficient architecture for the robot walking control program.
The robot has six legs and each leg is controlled by two DC motors with 2 degrees of freedom. With the ultrasonic and infrared sensors on its body, it also senses forward obstacles.
Robot walking control program consists of many small sized modules having independent functions and their execution is synchronized by some messages passed. For the robot to walk on uneven terrains, we propose the Modified Wave Gait algorithm which improves the limits of existing Wave Gait algorithm.
According to the result of the experiment, the robot can walk 230 cm/min fast on even terrains. It can also walk across stairs and slanted planes avoiding collision with large obstacles.
