Qian Wang, Bo Jin, Ce Zhang, and Shidong Zhang
Hexapod robot, yaw angle control, ground contact feedback
This paper presents a straightforward yet effective yaw angle feedback control strategy for a hexapod walking robot. The robot’s motion is corrected using the yaw angle provided by an IMU module. Kinematic models were analysed for both straight and turning gaits, and a PD controller was implemented for closed- loop control. Additionally, the tactile sensors on the foot tips were used to detect ground contact of the swing legs, and the foot trajectories were adjusted in real-time to minimise attitude deviations. The experiment results confirmed the effectiveness of the proposed strategies.
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