This thesis presents a study on multi-legged mobile robots for exploring collapsed building ruins. It is crucial to successfully complete reconnaissance missions in hazardous areas while ensuring human safety. Therefore, a legged robot was designed and built, as it offers greater maneuverability within collapsed structures compared to other robot types.
To achieve optimal agility and stability in such environments, a six-legged robot was developed. The design and construction of this robot encompassed mechanical components, electrical systems, and programming to enable real-world movement and operation. Furthermore, experiments were conducted on the gait patterns of the robot’s leg tips to verify the accuracy of the six-legged robot’s movement.