After almost 2 months of hard work… the results of the five legged (pentapod) robotic platform are acceptable. For the development of this all-terrain robotic platform, i am using two ARM Cortex M4 microcontrollers using a Real-time Operating System (RTOS) as well as a simple sensory system.

The communication between the microcontrollers was established using the Controller Area Network (CAN) protocol as well as a novel encryption/validation messaging protocol above it. Moreover, a novel memory allocation scheme was analyzed and used, providing efficient dynamic memory allocation and defragmentation for embedded systems lacking a Memory Management Unit (MMU).

In this pentapod robot, it is not advised control the legs directly, rather than controlling the position of the body. Any change of the body’s position is translated into changes of each leg position. By using Inverse Kinematics, we can work out the angles of each servo, and the robot moves the way we wish.

Inverse Kinematics Algorithm for Pentapod (five-legged) robot

Pentapod Robot first steps using IK, Gait and Blending IK