Hexateuthis: Sensor Placement on a Six Legged Robot (Video)

Hexateuthis sensor array
Originally uploaded by mr_tentacle.

Mr. Tentacle's Hexateuthis six legged walking robot (video below) presents some interesting challenges to think about in terms of sensor selection and placement. From a practical design perspective, the sensors need to be placed on the robots body, but that requires them being quite a way behind the ends of the legs. That triggered two, possibly impractical, ideas for us.

1) Is it possible to mount the sensors on the ends of the legs? Is there any advantage to doing it that way?

2) The current sensor placement defines a de facto Front and Back for the robot. What about a ring of sensors - say six to twelve - that would make the robot totally omni-directional, assuming the control software could take advantage of it.


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