Six-Legged Robot for Service Operations

New results on the development of an adaptive sixlegged hexagonal walking robot and its control system are presented. The major part of the paper considers control of foot force distribution and control of body motion based on the information about force foot reactions and the information about the main force vector acting on the robot's body. Inserting and drilling operations based on the force control are considered. Keywords: Walking robot, force sensing and control, active compliance and accommodation. 1. Introduction Among mobile robots one may select a special type - walking robots. The use of legs as propulsive devices instead of wheels or tracks enables such robots to move over surfaces with complicated profile, to adapt to practically any surface, overcoming obstacles which for conventional transport vehicles with wheels or tracks are basically insuperable. Most of researches carried out in field of development of walking robots and their applications are mainly connected wi..