Walking Programming for a Low-Cost Easy-Operation Cassino Hexapod

Aviral Shrot, Giuseppe Carbone, Marco Ceccarelli

ABSTRACT: This paper presents the operation strategy for a hexapod walking machine that has been designed and built at LARM in Cassino with low-cost easy-operation features. Special care has been addressed in proposing an architecture that can be easily operated by a PLC with on-off logic. The novelty in the system can be recognized in successfully using a lowlevel PLC through suitable walking analysis and programming. Experimental tests are reported in order to show feasibility and operational capability of the proposed design.

KEYWORDS: Robotics, Walking machines, Design, Simulation, Programming

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