The Hexapod Modernization Process and Its Impact on the Locomotion Efficiency of the Unit

ABSTRACT: This paper presents the process of retrofitting a six-point-of-freedom walking unit - a hexapod remotely controlled by Bluetooth communication based on a proprietary programme. A comparison is made to show how differences in the design of the walking unit, and in particular the number of freedom points per leg, can affect the efficiency of locomotion. In the first section, the work of other authors related to walking robots is presented. In the next section of the article, the individual components of the robot and the software are analysed and compared with the original unit to show the differences and advantages obtained by the upgrade. The last part of the article summarises the work done and shows further possibilities for the development of the project.

KEYWORDS: Transportation, 3D Printing, Artificial Intelligence (AI), Robot Operating System (ROS), Hexapod, Locomotion, Servos, Arduino

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Citation note:

Popowniak N.: The Hexapod Modernization Process and Its Impact on the Locomotion Efficiency of the Unit. TransNav, the International Journal on Marine Navigation and Safety of Sea Transportation, Vol. 18, No. 2, doi:10.12716/1001.18.02.06, pp. 311-313, 2024

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Natalia Popowniak: ORCID iD icon

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