The idea of robots being used for search & rescue missions, has been the top topic for many robotic designers and rescue services though-out the world. Earthquakes, Landslides, mine fields, collapsed buildings, war & terrorist attack’s are all unfortunate disasters. During these events human life is often at risk ,and finding trapped people within these disaster areas can sometimes be impossible.
Rescue robots are continuously being developed to do what human rescuers cant always do.
Everything from robotic Snakes, Spiders, lizards and even house hold flies, are being transformed into rescue robots.
One of the main problems faced by robotics is being able to walk up a flight of stairs and getting into tight spaces.
The Ant-artic is powered by 18 servos but also has 4 other servos in the chassis to articulate the body for climbing over objects and overall motion. These 22 servos all work together to make it all work
as you can see the chassis is still under construction>
The chassis servos makes this an articulated robot. The servo’s will give it a vertical lift for the front, back and middle legs. This will allow the robot to climb over things and also help move objects out its way. With this design the robot should have the capabilities to walk up the stairs, curl into a ball and turn itself over if it gets inverted.
this is the first chassis design>
It does look similar but innerbreed has gone further by adding an extra 4DOFs. Two pair of DOFs on the front pair of legs and rear pair of legs. Two more on each of the two “middle” legs.
This design is indeed beautiful. It has the ability of a H3-R but with an added ability to really lift the body off the ground…
What servos are you using for this hexapod? I would think at least a set of H645MGs?
yes it “had” the pan/tilt installed on the top.
i say “had” as i have resently taken the whole thing apart to buid a new robot watch this space for that!
You might want to consider using even stronger servos for the body. It looks as though just one servo one the front and one on th back will lift both pairs of legs. A 645 probably won’t cut it, especially if the legs need to push down.
yeah this is ture. i only ever built this as a prototype and never actually got the robot chassis working. i managed to get it to walk but i never used the articulation in the chassis!
i had to install dummy servos to keep the chassis from folding while in motion.
never had the money to upgrade to higher servos. if i did my wife would have killed me…!
Speaking of servos, I notice your mounting for the left/right and front/back servos are not symetrical. Is this intentional? I would have mounted the front and right servos with the servo horn outward.
Really nice work! Have you figured out the IK with the added servos in the body? Looking forward to see it in action! This is a very good example for demonstrating the flexibility of the SES brackets!
i had configured the servos like this for a few reasons. One: i had to try and keep the overall shape of the robot round and doing it this way i could achive this.
Two i only have a select number of parts.
with the IK i only ever wrote it in code but never actually tested it as i have a new project lined up so i took the antartic apart.
this is the only video i made of the ant-artic. you will notice i dont push the servos as it was running HS475’s. beleive me i’v shattered a few servos and its getting expensive to replace them.
It still isn’t making sense to me, but oh well. With the arrangement of the brackets you have shown, it makes more sense to have the servo horns outward on the leg lift servos.
The number of parts would not change. Only the orientation of two servos would change.
are you refering to the schematic or the photo? i know i accidently put the arrangement of the two servos the wrong way round. mistake i forgot to change!
watch this space for that! 
