MODELLING AND SIMULATION OF SIX LEGGED WALKING ROBOT

Abstract

A Biomimetic robot is the latest area for the researchers working in the field of robotics. Mimicking the biological systems of insects or the animals is not an easy task to perform, to achieve the flexibility and adaptability of insects or animals involves very complex control structures as well as mechanical designs. The 'worldwide efforts in last few decades resulted in large number of legged robots with different level of flexibility and adaptability. The robot modeled in this thesis work is a six legged robot, with each leg having 2 DOF, so the total DOF of a six legged robot is 18. The detail kinematic analysis is carried out for a single leg; same will be used for remaining legs of robot. An object oriented bond graph modeling for six legged robot is developed. These objects are created for a single link and are repeatedly used for the bond graph modeling of each link. The model developed, is verified by performing a simulation. The joint control is also achieved using a PD control law for each leg actuator of a six legged robot. This can be extended for the simulation of gait pattern. The detail flowchart for one step of walking pattern is also given, this step can.be repeatedly used for walking or moving required amount of distance. Simulation for this has been successfully done.