WHEGSTR: A Multiterrain Robot with C-Shaped Whegs, Implementation of Error Minimization Technique and using Artifical Neural Network (ANN)

Humaira Kousar, Muhammad Atif, Haider Ali, Muhammad Hamza Kundi

Abstract:

Designing a multi-terrain robot, WHEGSTR, a
six-legged robot with mental movements. It will be an astute
hexapod robot with complaint whegs, which will rotate full
circle, avoiding the common problem of toe stubbing in the
protraction (swing) phase. With its intrinsic mobility,
WHEGSTR will have the ability to adapt according to the
terrain and will maintain its balance using algorithms based
on differential equations. Due to its rigid body and strong
build, the robot can withstand impacts without
compromising performance. It will also transmit live
broadcast of the surrounding area. Moreover, it will give a
continuous feedback about the physical conditions i.e.
temperature, pressure, humidity, etc. of the nearby area. It
climbs in rock fields, mud, sand, vegetation, railroad tracks,
slopes and stairways [1]. This robot is going to be a
breakthrough in the industry of robotics due to its compact
size, rigidness and ability to move across different terrains.