Improvement Of Stability During Walking And Climbing Of Miniature Hexapod Robot

In nature and modern society,some specific fields and situations are unreachable or too hazardous for humans,such as planetary exploration,mines,construction,disaster salvation and anti-terrorism action.Some tasks are then already carried out by wheeled robots,but for uneven and irregular terrains,these robots have become not only limited but obsolete.Tackling this issue,legged-robots have appeared as being a relevant solution by virtue of its remarkable adaptation ability,research on legged robots has then become active and significant in robotics fields.Issues of research have essentially concerned the improvement of the stability of the robot during walking and climbing phases.The parameters influencing the stability are various such as the mechanical design,gaits of robot motion,degrees of freedom of the body and the legs,energy consumption,weight,etc.Cockroaches and stick insects,have achieved within their development fascinating solutions in order to maximize their locomotive ability for the locomotion,especially being able to climb over a large variety of obstacles.Thus,biology has inspired robotic,the mechanical structures,kinematic of motion,behavioral neurobiology are positive significant interests and my thesis intends to support this “natural” scientific impetus.