Exjobb – Motion Control of Hexapod Robot Using Model-Based Design


Six-legged robots, also referred to as hexapods, can have very complex locomotion patterns and provide the means of moving on terrain where wheeled robots might fail. This thesis demonstrates the approach of using Model-Based Design to create control of such a hexapod. The project comprises the whole range from choosing of hardware, creating CAD models, development in MATLAB/Simulink and code generation. By having a computer model of the robot, development of locomotion patterns can be done in a virtual environment before tested on the hardware. Leg movement is implemented as algorithms to determine leg movement order, swing trajectories, body height alteration and balancing. Feedback from the environment is implemented as a internal measurement unit that measures body angles using sensor fusion.

The thesis has resulted in successful creation of a hexapod platform for locomotion development through Model-Based Design. Both a virtual hexapod in Sim- Mechanics and a hardware hexapod is created and code generation to the hardware from the development environment is fully supported. Results include successful implementation of hexapod movement and the walking algorithm has the ability to walk on a flat surface, rotate and alter the body height. Implementation also contains a successful balancing mode for the hexapod whereas it is able to keep the main body level while the floor angle is altered.

Thesis and Article