Omnidirectional limb mechanism robot: Design and motion control

Abstract

This paper introduces the design and motion of an omnidirectional limb mechanism robot and a six legged (hexapod) system that is developed for stable navigation across uneven terrain. Each leg functions as both a leg and an arm, allowing omnidirectional mobility and versatility. The study focuses on achieving efficient gait control and structural reliability through integrated mechanical control system design. The robot’s 3D model was created by using Solid Works and Finite Element Analysis was done to test the strength and safety of each part. ABS plastic was chosen as main material because it is light, strong, and affordable .A gait control system was developed to help the robot to walk steadily using tripods and wave gaits. Simulations were carried out in MATLAB Simulink to check how well the robot could balance and move across different terrains. This study’s result shows that the robot design is strong, stable, and energy-efficient. It can be used for search and rescue, farming, and industrial inspection. In Future, it will include building the real robot and testing it in real environments to improve its performance.