Estudio, control e implementación de sistemas robóticos avanzados: implementación de un robot tamaño reducido que emule el movimiento de un insecto de más de cuatro patas.

Abstract

The purpose of this work is to create a mobile platform that emulates the behavior of a zoomorphic robot that has more than 4 legs, which is developed from scratch by following as example a similar platform developed by the Biomimetic Millisystems Laboratory of the University of California at Berkeley, whose name is OpenRoACH. Therefore, using 3D printing, its mechanical structure was created based on the design of the model platform but employing a PET-type material. All the robot body parts were obtained and the platform has an approximated dimensions of 15 cm x 11 cm x 8 cm. Once assembled, a PCB board was designed and implemented together with the required circuitry and power supply for the correct operation of the prototype. By using the KEIL STUDIO CLOUD compiler, the microcontroller was programmed in order to provide to the robot the autonomy of movement. Once the programming and implementation phase were completed, a functional hexapod robot was obtained whose motion is given thanks to the built-in electric motors and to the differential thrust that they create on each side of the platform.