Motion planning for a hexapod robot over uneven terrain

Abstract

This paper explores the motion planning of a hexagonal-based hexapod robot (Hexapod) for executing complex motions. The system utilized the Denavit-Hartenberg coordinate system and a kinematics system to enable individual leg control for the Hexapod. By manipulating this system within a simulation, the Hexapod successfully demonstrated the ability to ascend and descend an obstacle, adjust its body’s height and Euler angles, and execute smooth transitions on sloped terrains.