Electronically controlled hexapod prototype for emergency situations

The proposed paper describes the Fire-HEXBOOT prototype's implementation, consisting of the hexapod-propulsion module, the fire detection and its extinguishing system. During the prototype testing some adjustments in terms of sensors, servomotor response times, balancing of the displacement structure have been solved and optimized. Specifically, the developed robot has mechatronic system dedicated to motion (hard + software), to head movement, to obstacles avoiding and flame detection and for optical warning of certain tasks. The HEXBOOT robot is based on two important and closely related features, namely intelligence and autonomy. These functions are implemented and activated with the running of optimized source codes on two PIC microcontrollers.