Abstract—In this paper, the development of a legged robot
which have needed features for search and rescue operations to
access to survivors is aimed. Different walking algorithms are
designed for this purpose and tested their performance.
Six-legged walking robot is affected by environmental
conditions thus encountered conditions are minimized.
Additionally, the search team which is exposed to the risk of
accidents is reduced and more detailed. The investigation about
the possibility of problems such as accident, battery life is
largely scaled. Control of robot is provided via communications
port on computer. The legged robot inspired by spider is
developed with the control mechanism and executes various
walking behavior. The effectiveness of the robot is measured
according to the performance on rough terrain through six legs.
Functional algorithms are built for flexible motion against
different conditions such as rough terrain, pit. In the same time,
the algorithms moving at various speeds related to structure of
legs are presented. The robot used in the project is called as
TKSPIDER1 which has three servo motors in each leg.
Index Terms—Spider robots, mobile robots, Hekxapod,
search and rescue.
The authors are with the Department of Electrical and Electronics
Engineering, Selcuk University, 42075, Konya, Turkey (tel.:
+90-332-223-3726; fax: +90-332-241-0635; e-mail:
tolgakarakurt@gmail.com, durdu.1@selcuk.edu.tr,
nyilmaz@selcuk.edu.tr).
Cite: Tolga Karakurt, Akif Durdu, and Nihat Yilmaz, "Design of Six Legged Spider Robot and Evolving Walking Algorithms," International Journal of Machine Learning and Computing vol. 5, no. 2, pp. 96-100, 2015.