Construction of obstacle- avoiding six-legged robot

Date

4-2008

Degree

Bachelor of Science in Applied Physics

College

College of Arts and Sciences (CAS)

Adviser/Committee Chair

Nelio C. Altoveros

Abstract

A six-legged robot (hexapod) was designed and constructed. The hexapod, which utilizes a tripod gait, can navigate an unknown area and avoid obstacles in the process. It uses three infrared (IR) proximity sensors for obstacle detection. Two sensors are used as antenna and the third one as proximity sensor at the rear of the hexapod to govern the backward movement. The test area measures 2 by 2 m2. Four objects were placed in the test area to determine the functionality of the hexapod. The obstacles used were 40-cm tall boxes. Once the robot is powered up, it initializes and automatically erects itself and moves to neutral position. It starts its walking routine with forward steps and avoids objects detected in its path. Originally, the hexapod employed batteries. However, the hexapod could not stand due to the excess weight that the servo motors could not lift. The hexapod performed the walking routine successfully using A/C power supply. It moved forward, backward, left and right. There were some errors due to the specifications of servo motors and sensors. Nonetheless, the hexapod had more successful routines than failed ones.

Language

English

Location

UPLB Main Library Special Collections Section (USCS)

Call Number

Thesis

Document Type

Thesis

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