In the work, the process of development of a walking platform of a hexapod robot is considered. A thorough research regarding the state of the industry and possible prospects in application was conducted. Also, the possibilities of integration of computer vision into the system and the possibilities which it can provide to an operator or a control algorithm were considered.
A feature of the implementation of the prototype was the use of two microcontrollers STM32F103C8T6, as a center of control of motion management and processing of commands, and ESP32, as a video processor and a center which supports a communication channel with the operator. In the course of development, mathematical modeling was conducted, having the form of equations of forward and inverse kinematics, which are necessary for the implementation of motion algorithms. Also, modeling of the construction and its manufacturing by means of a 3D printer were conducted. In parallel with this, a selection of motors and electrical components was conducted, which are necessary for obtaining the required information for modeling the environment and conducting control by means of data transmission protocols and pulse-width modulation of the signal.
The result of the work demonstrates promising results in practical use in the fields of reconnaissance, rescue works, and possibilities for work in extreme environments that are inaccessible to the human body in normal conditions.
Research advisor: Andrii Momot