Abstract
Walking machines are a good compromise between flying machines with a small payload and wheeled machines with limited terrain crossing capabilities for displacements on strongly uneven terrain, such as in search and rescue missions. This paper presents the hardware development of a hexapod crawling robot, in particular the development and integration of foot contact sensors. The development is based on Trossen Robotics’ PhantomX hexapod robotics kit. In its original version, the robot is only meant to be remote controller without any feedback from exteroceptive sensors. We present here a new foot contact sensor providing the required feedback for the contact between the robot’s foot and the ground and their electronic integration in the rest of the system.
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The authors want to acknowledge Prague’s School of Chemistry for providing such balloons in a material that does not alter with the time as quickly as some cheap balloons tested.
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Acknowledgments
This work was supported by the Technology Agency of the Czech Republic under project TE01020197 Center for Applied Cybernetics 3.
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Écorchard, G., Přeučil, L. (2019). Development of Foot Contact Sensors for a Crawling Platform. In: Mazal, J. (eds) Modelling and Simulation for Autonomous Systems. MESAS 2018. Lecture Notes in Computer Science(), vol 11472. Springer, Cham. https://doi.org/10.1007/978-3-030-14984-0_19
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