DESIGN AND CONTROL OF A SIX-LEGGED SPIDER ROBOT FOR ENHANCED MOBILITY AND ADAPTABILITY

Abstract

Spider robots are widely preferred due to their superior mobility enabled by multi-legged structures and articulated joints, which allow effective locomotion on uneven terrain and obstacle negotiation. However, the mechanical complexity of legged systems may lead to limited payload capacity, a high number of moving parts, and increased sensitivity to impacts, while balance control becomes more challenging due to variations in the center of gravity. This study aims to mitigate these drawbacks by proposing the mechanical design and prototype implementation of a six-legged spider robot, supported by material selection and an embedded electronic setup for actuation and sensing. Forward and inverse kinematic models of a 3-DOF leg are derived using the Denavit–Hartenberg convention to enable consistent foot placement and trajectory generation. In addition, predefined gait patterns are implemented and evaluated on the prototype to assess feasible locomotion behavior, and a structural deformation analysis of critical leg segments is performed to investigate mechanical robustness under loading. The presented platform provides a practical basis for further developments in hexapod locomotion for field-oriented applications such as search and rescue, reconnaissance, and hazardous environment exploration.