Development of Hexapod Tracked Mobile Robot

• Abstract
  We have devised new type of tracked mobile robot which is equipped with multiple legs attached to its body. This type of robot is able to not only move over rough terrain, but also perform a variety of tasks by using its legs as manipulator arms. Quadruped and Hexapod tracked mobile robot were developed as the prototypes of this type of robot. This paper also describes several possible leg-track hybrid task- and movement-related motions. Specifically, we consider the motion of traversing a gap and the motion involved with retrieving a target object from under a board. The retrieving motion is a typical example representing the abilities of this type of robot. The joint torques required for these motions were simulated based on statics. Several experiments with the developed robots proved, through these motions, its ability to achieve hybrid locomotion and tasks.

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• Publications and Presentations

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