Development and implementation of autonomous features of a hexapod robot

Abstract: Using a six-legged-robot as a development platform this thesis aimed to have a fully autonomic robot capable of navigating and mapping previously unknown terrain in three dimensions. During the project both hardware and software upgrades have been made such as implementing another computer on the robot and enabling wireless communication via Wi-Fi. Experiments were performed on a test track that challenged both the speed of the algorithms and desired accuracy of the rendered map. The results was satisfying, the robot is well capable of traversing an unknown environment and describing the environment with an accurate obstacle map.