| Issue |
MATEC Web Conf.
Volume 370, 2022
2022 RAPDASA-RobMech-PRASA-CoSAAMI Conference - Digital Technology in Product Development - The 23rd Annual International RAPDASA Conference joined by RobMech, PRASA and CoSAAMI
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|---|---|---|
| Article Number | 05005 | |
| Number of page(s) | 16 | |
| Section | Robotics and Mechatronics | |
| DOI | https://doi.org/10.1051/matecconf/202237005005 | |
| Published online | 01 December 2022 | |
Hexapod guidance and control for autonomous waypoint navigation over uneven terrain
Department of Electrical & Electronic Engineering, Stellenbosch University, South Africa
* Corresponding author: 20761600@sun.ac.za
This paper presents a novel hexapod guidance and control system that enables an autonomous hexapod robot to walk over uneven terrain while navigating waypoints and keeping its central body level. The system uses a depth camera to determine the terrain heights at the horizontal locations where the hexapod plans to place its feet. The guidance and control software has been implemented in the Robotics Operating System and has been verified in simulation using the Gazebo simulator. A physical hexapod robot has been constructed and practical tests are currently being performed to validate the system.
© The Authors, published by EDP Sciences, 2022
This is an Open Access article distributed under the terms of the Creative Commons Attribution License 4.0, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
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