Modeling and analysis of hexapod robot motion with two motors using max-plus algebra

This research will model and analyze the six-legged robot foot movement using two motors. The robot used is using the Lego Mainstroms EV3 robot. Searching for eigenvalues and vectors will use the MATLAB and Scilab programs. From the value and eigenvectors obtained, analysis will be performed for the movement of the six-legged robot. Tripod gait means that 3 legs that are in the same group perform the same movements both raised and tread and alternately with other groups of legs. (1) The main components making up the six-legged robot are the robot body, EV3 Brick (robot controller), two motors (moving the robot's legs) and connectors, (2) modelling when all feet move in iteration is enough to model one foot in each group of feet and modelling footwork requires a matrix measuring 12x12 to find out the total time needed for the foot to make movements in one cycle, (3) the eigenvalues obtained for all groups of legs are the same so that it can be known when each foot starts to make periodic movements, that is, when the time needed for each leg to lift and touch the ground.