| dc.description.abstract | The objective of this study is to design and fabricate a hexapod robot with high mobility and high adaptability. By using forward kinematics and omni-directional gait concept, we develop a modified omni-directional gait and two types of controller which are a forward direction controller and a height controller for the robot. The forward direction controller can make the robot walk to any direction with the new omni-directional gait. The height controller can adjust the motors’ rotation angle for each leg such that the robot can squat to walk through a low gap and after that return to the original gait. Furthermore, there are three wheels being set under the corresponding three legs. When the robot walks on the flat ground, it can be transformed from a hexapod robot to a vehicle robot for moving fast. There is a disk in the tip of each leg, so that it can upside down hang on the mesh and move forward or turn. This function can be used in the special terrain which cannot be passed by walking or wheels. It is worth mentioning that the robot can change to the quadruped robot model so that the left two legs can pick or grasp something. If any one leg is out of function, the quadruped robot model still can make the robot have the walking ability. Moreover, there is a rotatable camera set on the back of the robot to capture and transfer the images to the control center at any time. In summary, the robot can move with four models, which are hexapod, quadruped, vehicle and hanging models robot, to overcome many types of terrain. Finally, according to many experiments, it is found that the robot in four modes can work smoothly and stably. It is confirmed that the robot has high mobility and high adaptability too. We believe that if there are more improvements on the robot, the robot can play its excellent exploration or disaster relief capabilities at the disaster site. | en_US |