Design of Six-legged Crawling Robot Based on Single-chip Microcomputer

Compared to other types of robots, Six-legged crawling robot has more advantage in movement stability, adaptability, controlling performance and so on. It can cross over larger obstacles easily, such as a ladder or a gap. At the same time, the robot has more degrees of freedom and good executive ability adapting to the complicated unstructured environment. In this design from the simulation study, a six-legged crawling robot is discussed which has good capability of crawling obstacle. For simulation science, the articulated mechanism and tripod gait program of legs are selected. The purpose of model and simulation of this robot is ensure that the assembly is completed parts with no interference. In addition, one of the most important content is the design of structure and control system for the robot with rhythmic motion. Finally, The programming of single-chip microcomputer about this robot are explained in the paper.