Path tracking controller design of hexapod robot for omni-directional gaits

Abstract

This paper introduces a path tracking controller for six legs control and omni-directional gaits of hexapod robot. The hexapod robot consists of its body and six legs. A leg has three links and three rotational joints. One leg is designed by forward kinematic for mathematic modeling. Path tracking controller is developed based on back-stepping control using Lyapunov stability and tracking reference trajectory of one leg with smooth and uniform velocity. A hardware control system of the hexapod robot is developed based on DSP TMS320F28335 micro-controller and AX-12A servo motors with half duplex communication. The simulation and experimental results are shown to prove the effectiveness and applicability of the applied controller. For experiment, we apply tripod gait to the hexapod robot. ？ 2013 IEEE.