Autonomous Obstacle Avoidance for a Hexapod Robot Using Proximity Sensors
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Date
2024-06-30
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international Journal of Automation and Safety (IJAS)Vol.02, N°: 01.pp 01-06
Abstract
The hexapod walking robot serves as a versatile mobile platform, adept at navigating
challenging terrains owing to its stable leg-based locomotion. Demonstrating high
stability in both static and dynamic states, it effectively traverses terrains with
obstacles. In this paper, we propose a method for obstacle avoidance utilizing
proximity sensors, integrated with an Intelligent Walking Algorithm (IWA) for
locomotion control, and a tripod gait algorithm for walking. Our simulations were
conducted using the CoppeliaSim simulator with the Python interface. The results
were highly satisfactory, as the robot consistently avoided obstacles with a
remarkable combination of stability and precision.