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The legged robots have emerged by the necessity of vehicles capable of travel and access safely on natural or unstructured terrains, in which vehicles with traditional travel systems (like the wheels) are unable to access, or if they achieve, they move on them with very low efficiency. However, despite the advantages of mobile robots with legs, there are limitations that hinder its use like the control of movement of their legs, the algorithm of locomotion, trajectory tracking and the obstacle avoidance. In our days, a very useful alternative applied to control systems is fuzzy logic; this one is capable of modeling mathematical complex systems. Therefore, fuzzy logic has been becoming popular in control systems for complex and nonlinear plants. The aim of this work is to make algorithms to control the hexapod robot body. The development of these algorithms uses fuzzy logic techniques for controlling the servomotors of the robot. Matlab algorithms are performed to establish a wireless communication using the ZigBee communication protocol, and we use the genetic algorithm toolbox from Matlab to make the control of the hexapod robot body in the ˵x–y″ plane, this is a multi-objective optimization problem due to the stabilization of the robot body in ˵x″ and the stabilization of the robot body in ˵y″. [ABSTRACT FROM AUTHOR]

In the paper new six-legged robot Messor II is described. The new machine is the improved version of the previous robot Messor. The current design has better power to mass ratio. Additionally new servos, which power the joint of the robot, allows for better control and motion execution. The paper contains three main parts. In the first section mechanical design is presented. Then, the electronic part of the robot is described. Next the control system of the robot is outlined. [ABSTRACT FROM AUTHOR]

The precise localization of the mobile robot plays a vital role in the autonomous operation of the mobile robot. The vision based simultaneous localization and mapping (SLAM) is a widely known technique for tracking the movement of the camera in the unknown environment. This paper presents a robot΄s movement model which is based on the reference trajectory of the robot. The proposed model was compared with the state-of-the-art model used in the successful MonoSLAM system[8] and provided good results. [ABSTRACT FROM AUTHOR]

We design a hexapod with closed-loop legs which can achieve locomotion in the horizontal plane with small vertical displacement changes. Furthermore, the hexapod does not need any control if it uses the tripod gait to achieve straight movement, due to the specific property of its leg. Because the efficiency of dynamics computation plays an important role in many applications, so we combine the AB algorithm of Featherstone which is suited for the manipulator with a fixed base, the Orin΄s DTS method which models the contact between the foot of robot with the ground, Brandl΄s method disposing constraint problems and a constraint violation stability method which selects the Baumgert parameters dynamically to process a dynamic analysis of the hexapod. At the same time, the hexapod dynamics is analyzed by ADAMS which adopts the Newton-Euler MBDA(multi-body dynamic algorithm) to process the dynamics analysis. The analysis results of the hexapod with these algorithms are compared to show the differences of the results using the two algorithms and distinguish which algorithms needs less calculation operations for the hexapod. [ABSTRACT FROM AUTHOR]