An automated Field Programmable Gate Array (FPGA)-based insect robot

Abstract

A six­legged Field Programmable Gate Array (FPGA)­-based insect robot was constructed and developed. The system design was divided into several phases which include the hardware design and fabrication, the software design and the integration and testing of the hardware and software components. The system consists of an insect robot platform that used a total of 18 servo motors (three motors for each leg) for locomotion, ultrasonic ranging sensor module and a controller using Xilinx® Spartan 3 FPGA board. The movement of the insect robot was implemented using VHDL codes.