WHEGSTR : A Multi-Terrain Robot

Abstract

All-terrain robots are supposed to handle a wider variety of terrain than ordinary robots. Whatever type of terrain you prefer (tough terrain, steep slopes, sand, mud etc.), these robots can provide maneuverability and stability on every point of the terrain. Many all-terrain robots are quite versatile, but only a few of these could be removed from the average and considered extreme robots. We are designing a multi-terrain robot, WHEGSTR, a six-legged robot with inherently high mobility. Powerful, independently controlled legs produce specialized gaits that devour rough terrain with minimal operator input. WHEGSTR easily traverses terrain approaching the complexity and diversity of the natural landscape. It climbs in rock fields, mud, sand, vegetation, railroad tracks, slopes and stairways. It will be an autonomous hexapod robot with complaint legs, which rotate full circle, thereby preventing the common problem of toe stubbing in the protraction (swing) phase. With its intrinsic mobility, WHEGSTR will have the ability to adapt according to the terrain and will maintain its balance using algorithms based on differential equations. Due to its rigid body and strong build, the robot can withstand impacts without compromising performance. It will also transmit live broadcast of the surrounding area. Moreover, it will give a continuous feedback about the physical conditions i.e. temperature, pressure, humidity, etc. of the nearby area. This robot is going to be a breakthrough in the industry of robotics due to its compact size, rigidness and ability to move across different terrains. Also, it is going to be one of the successors to RHex invented by Boston Dynamics.