Obstacle Avoidance for A Hexapod Robot Based on FFT control

Demonstration of the CPG based control model (close-loop) introduced in the ME5001 (master's) project "Obstacle Avoidance for A Legged Robot Based on FFT control" by Xia Yixuan.   In this video, we present the performance of open-loop locomotion and closed-loop locomotion in traversing periodically spaced holes. The orange bars in this video represent the holes in the ground. As for open-loop control, there is no visual feedback, so the hexapod robot will keep the initial gait. However, since the spacing is smaller than the initial step length, the robot will step into the holes. For closed-loop control, the robot pauses once per gait cycle to take photographs and process the image to compute the interval of holes. Then, the gaits of robot is adapted to that interval, to successfully avoid all the holes in the ground and safely locomote.