Simulation of a Robot in Bio-Inspired Hexapod Tenebrio

Insects are an essential foundation in the study of reactive robotics because they possess both biological and moving features that are of interest to implement bio-inspired robots, keeping into account their performance in different areas. However, hexapods animals have omnidirectional and stability, due to their formation as a tripod support, which creates their feet in order to take a step, allowing them to overcome different obstacles with ease at constant speed. In this project it has been implemented an insect Tenebrio locomotor system, thanks to the ease to see their movements. Legs movement of insects is analyzed in all trajectories, lands, and views. Furthermore, formulation of both parameters, equations, and constraints are performed by limiting the various links of each of Tenebrio's leg. This was realized through image analysis. Finally, the information was collected and implemented in MATLAB in order to determine the characteristics of movement, as well as its stability and drive.