On Mechanics and Control of Six-Legged Walking Robot

In the paper fundamentals of mechanics and control of six-legged mobile robot are presented. Several construction aspects of robot legs are considered. An analysis of motion and structure of a robot leg, its kinematics and drive system is carried out. Some details concerning robot body are given. A robot control system aimed at steering the legs of the walking machine and monitoring their position, as well as monitoring surroundings of the robot by means of external sensors is investigated in details. The robot presented in the paper has been conceived, designed and made as a prototype machine with an open construction. This makes any modification possible and easy.