Hexapod Walking Robot for Agricultural field (I) - Mechanism of leg and gait control -

The bio-production of the orchard and the ravine part is done in the inclination ground and unleveled land. The hexapod walking robot, which is stabilized in these fields, is suitable for many production works. This study had aimed to develop hexapod walking robots for agriculture. First of all, a small walking robot was made for trial, to form flexible gait that adjusted to unleveled land. A leg of this robot is composed of one prismatic joint that moves to body in parallel and two rotational joint. Next, straight advancement and turn gait of this robot was formed with genetic algorithms.