Obstacle Avoidance by Spider

The main goal of this paper is to design a hexapod robotic system. This paper also presents a dynamic steering algorithm which ensures that the robot doesn�t stop in front of an obstacle. Robot detects an obstacle in front of it and avoiding collision. Hexapod robots are the most typical walking robots that imitate the limb structure and motion control of insects or arthropod animals, and that can walk in unstructured terrain with a high probability of success, even if a limb is lost. These important advantages make it reliable for some autonomous and high-reliability works, like field scouting under water searching, space exploring, disaster areas, rigs, excavations, and many other applications.