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Development of an autonomous hexapod robot

Myrkos Dimosthenis

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Year 2022
Type of Item Diploma Work
Bibliographic Citation Dimosthenis Myrkos, "Development of an autonomous hexapod robot", Diploma Work, School of Electrical and Computer Engineering, Technical University of Crete, Chania, Greece, 2022
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Nowadays, autonomous six-legged robots show great promise for use in applications, where rough, unstructured terrain has to be traversed. Legged robots have advanced potential to navigate in complex environments compared with their wheeled counterparts. The subject of this diploma thesis is the development (hardware and software) of an autonomous hexapod (six-legged) robot for safe navigation and exploration in unknown environments. This thesis presents the design of the robot, the derivation of the kinematic chain of the joints and the development of its gait planning algorithm. In particular, the design of the robot consists of all the necessary components, such as sensors, 3D printing parts, batteries and the integrated control system. In addition, Simultaneous Localization and Mapping (SLAM) techniques are used, in order to produce the map of the unknown environment and determine the location of the robot within that map. Finally, the autonomous navigation system of the hexapod robot for its movement in unknown environments is described in detail. The entire project has been implemented in the Robot Operating System (ROS) framework and is available as an open source package. The proposed robotic system has been tested in indoor environments and in real-time conditions.

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