Introduction to Hexapod Robots

CHAPTER 1
INTRODUCTION
Robots are one of the intelligible creations in the human history that has revolutionized the world and has
created numerous opportunities and wide range of research possibilities in the field of automation. Robots
are now used to replace the human tasks which are highly dangerous and can be used to operate in the
places where the humans can hardly reach. There are many types of robots that replace the humans like
the robots used in the assembly line for repetitive tasks and one such robot is the multi-legged robot
which has the ability to move in irregular surfaces and can be used for various purposes depending on the
scenarios and the number of legs. These multi-legged robots have more static stability while moving on
irregular surfaces than the wheeled or tracked robots. Hex robot is one of the multi-legged robots which
have high performance which does not include more complicated mechanisms in structure. Lauren III was
built by FZI. Each leg of this robot has three degrees of freedom. This robot consists of 12 actuators
which has a current sensor which can be used to detect forces opposing to its movement. Hexapod is a
multi-legged robot that has six to eight legs which is one of the most stable legged robots present.
Hexapod has greater flexibility and stability to move in irregular plateform by using three legs
consequently.
A hexapod robot is a robot that has six legs to walk or move. It is well known that a robot can be
statically stable on three or more legs. Since a hexapod robot has several legs, it has a great deal of
flexibility in how it can move. If some legs become disabled, the robot may still be able to walk.
Furthermore, not all of the robot’s legs are needed for stability; other legs are free to reach new foot
placements or manipulate a payload. Also, the robot is easily programmed to move around because it can
be configured to many types of gaits. There are various designs of hexapod robots with certain functions
and advantages. For instance, hexapod robots have been sketched in eight different designs, and every de-
sign has its different criteria, specifications, shapes, advantages and disadvantages. Many hexapod robots
are biologically inspired by hexapod locomotion. Hexapods may be used to test biological theories about
insect locomotion, motor control, and neurobiology. Hexapod designs vary in leg arrangement. Insect
inspired robots are typically laterally symmetric. Typically, individual legs range from two to six degrees
of freedom. Hexapod feet are typically pointed, but can also be tipped with adhesive material to help
climbing walls or wheels so the robot can drive quickly when the ground is flat. The researchers
developed a six-legged walking robot that is capable of basic mobility tasks such as walking forward,
backward, rotating in place and raising or lowering the body height [1].
The robot legs movement or method of forward motion using legs is called gait. Most often, a hexapod
robot is controlled by gaits, which allow the robot to move forward, turn, and perhaps side-step. One
important issue in the development of hexapod robots is to consider the motion and develop proper gaits
for the robots. For instance, feasible gait patterns were developed by Belter and Skrzypczynski to control
a real hexapod walking robot. The use of hybrid genetic gravitational algorithm for generation of the gait
for the hexapod .Gaits for a hexapod robot are often stable, even in slightly rocky and uneven terrain.
There are varieties of gaits available. Some of the most common gaits are as follows: alternating tripod
gait; quadruped; and crawl. The famous gait used by hexapod robot is the tripod gait. In the tripod gait,
there are always three feet of hexapod in contact with the ground. For example, the hexapod robots
developed, were used this alternating tripod gait. Motion of a hexapod robot may also be nonrated, which
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means the sequence of leg motions is not fixed, but rather chosen by the computer in response to the
sensed environment. This may be most helpful in very rocky terrain, but existing techniques for motion
planning are computationally expensive. Hexapod robots can be designed with certain functions and
advantages. Most hexapod robots were designed with only legs. Some hexapod robots were designed with
manoeuvrable wheels or combination of legs and wheels. In general, the movement of robot by legs is
good for rocky and uneven terrain. But the movement of robot by the wheels is faster than the movement
of the robot by legs. The Hex robot could be an exception because the motion of its six legs is similar to
the rotation of wheels. The Hex robot has a lot of excellent performance such as running on reasonably
flat, natural terrain at speeds up to 6 body lengths per second climbing a wide range of stairs and slopes
up to 45 degrees; traversing obstacles as high as 20 cm and badly broken terrain with large rocks or
obstacles; walking and running upside down; flipping itself over to recover nominal body orientation;
leaping across ditches.
However, the hex robot is not suitable for working in underground mines to detect gas. The reasons are:
Its violent bumping and collision of its body with the rocky terrain will be easy to cause sparks leading to
explosion in detecting the gas in underground mines. In such an application, the power of every motor is
quite limited (only 3 watts). The motors used for the hex robot cannot be so small. Otherwise, its
powerful performance will be greatly compromised. The gas detective robot has a sensor on top of a stick
about 1.5 meters high, which stretches up from the robot body. So, walking and running upside down,
flipping and leaping are not allowed even if these are good performance of the Hex robot. In order to
develop such a gas detective robot working in underground mines, a new concept for developing hexapod
robots using eccentric wheels is proposed in this work. Compared with the Hex robot, the proposed
hexapod robot can greatly reduce the bumping of the robot body in both smooth ground and rocky terrain.
Also, the developed hexapod robot possesses significant advantages over those with common circular
wheels in traversing rocky and uneven terrain. Also, the control of the proposed hexapod robot is simple
because each eccentric wheel has only one degree of freedom [2].
1.1 Hexapod Early designs:
The first hexapod robots that have been ever made are in such a way that they have pre-determined
motion as a result of which they do not adapt for different type of surfaces. In the 1950’s the robots which
were made are totally controlled manually. In University of Rome in 1972, one of the first successful
hexapod robot was constructed as a computer-controlled walking machine with electric drives. In 70s, at
the Russian Academy of Sciences in Moscow, a six-legged walking machine with a mathematical model
of motion control was developed. It was connected with a two-computer control system and equipped
with a laser scanning range finder. Marsha hexapod in 1976, a walking robot was designed at Moscow
State University.
The robot had articulated legs with three DoFs, tubular axial chassis .Using the contact in feet with the
help of proximity sensor, the hexapod is able to overcome the obstacles. A six-legged insect like robot
system. Hexapod AI was developed in Ohio State University in 1977 which was kept tethered and was
made to walk short distances over obstacles.Odex I, a six-legged radically symmetric hexapod robot
developed in 1984, Ode tic Inc., California, USA, which used an onboard computer to play back pre-
programmed motions The robot moves using its own power but it’s on board computer is controlled
manually. The hexapod could climb obstacles such as stairs or a pickup truck using remote human control
or the pre-recorded motions. In 1985, the Hexapod Manned Rover was developed in Russia. This
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hexapod main purpose was for investigating the walking propulsive device and control system. NMIIA
had a mass of 750 kg; its load-carrying capacity was 80 kg; travel speed was 0.7 km/h. In 1989, the Ohio
State University started the Adaptive Suspension Vehicle project. The six-legged robot, used hydraulic
actuation being powered by an internal combustion engine. The individual control of each leg was
assured by a central computer and a human was able to operate it through a joystick. As main
characteristics, its 250 kg payload capacity, and the possibility to surpass 1.8 m width ditches and climb
vertical steps of maximum 1.65 m should be mentioned. A hexapod walking robot named Aqua-robots
was constructed in 1989 and used for underwater measurements of ground profiles for the construction of
harbours. A small hexapod robot named Genghis with 0.35 m length and 1 kg weight was developed in
the same year. The behaviour of Genghis was not explicitly controlled, but was built by adding layers of
control on top of existing simpler layer. This approach was different to the more traditional method of
task decomposition. Attila and Hannibal hexapod robots were built in the Mobot Lab in the early 1990s
possessing over 19 degrees of freedom, they were very sophisticated autonomous robots for their size,
more than 60 sensory inputs, eight microprocessors and real-time behaviour. TUM Walking Machine was
developed in 1991. The robot was designed and steered similar to a stick insect; the control system was
realized as a neural structure.
AMBLER (Autonomous Mobile Exploration Robot) was a hexapod robot developed by the Jet
Propulsion Laboratory during the mid-90s for operating under the particular constraints of planetary
terrain. The robot was about 5 m tall, up to 7 m wide, and weighed 2500 kg. While most robots bend their
legs to step and walk, AmbleraAZs legs remain vertical, while they swing horizontally, adopting a
telescope like displacement to touch the ground [3].
1.2 Biologically Inspired:
Insects are chosen as models because their nervous system are simpler than other animal species. Also,
complex behaviours can be attributed to just a few neurons and the pathway between sensory input and
motor output is relatively shorter. Insects' walking behaviour and neural architecture are used to improve
robot locomotion. Conversely, biologists can use hexapod robots for testing different hypotheses.
Biologically inspired hexapod robots largely depend on the insect species used as a model.
The cockroach and the stick insect are the two most commonly used insect species; both have
been ethologically extensively studied. At present no complete nervous system is known, therefore,
models usually combine different insect model, including those of other insect. Insect gaits are usually
obtained by two approaches: the centralized and the decentralized control architectures. Centralized
controllers directly specify transitions of all legs, whereas in decentralized architectures, six nodes (legs)
are connected in a parallel network; gaits arise by the interaction between neighbouring legs.
1.3 Hexapod Recent developments:
A rapid development in the control systems has been made in the last two decades. Different types of
sensory equipment are added to the functions of hexapod. For the analysis of environment and motion of
robots on a complex surface, Artificial Intelligence systems were widely applied. A series of bio inspired
robots was developed at Case Western Reserve University (USA) at the end the 90s, such as, for example,
Robot III that had a total of 24 Doffs. Robot architecture was based on the structure of cockroach, trying
to imitate their behaviour. In particular, each rear leg had three DoFs, each middle leg four DoFs and each
front leg five DoFs. Similarly, Biobot was a bio mimetic robot physically modelled as the American
cockroach (Periplaneta Americana) and powered by pressurized air. This hexapod had a great speed and
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agility. Each leg of the robot had three segments, corresponding to the three main segments of insect legs:
coxa, femur, and tibia. Hamlet was a hexapod robot constructed at the University of Canterbury, New
Zealand. It consists of three revolute joints with identical legs. The main purpose of Hamletas application
task was to study force and position control on irregular surfaces. In 2001, a project named Hex
commenced; Hex design comes from a multidisciplinary and multi-university DARPA funded effort that
applies mathematical techniques from dynamical systems theory to problems of animal locomotion.
Hexapod design consists of a rigid body with six legs, each with one DoF. Thus, Hex has only six motors
that rotate the legs such as a wheel.
Fig. 1.1 Hexapod Robot
Several prototypes of Hex have been developed. At present the project is still active. Lauron V hexapod
robot was the result of about 10 years of progressive improvement on the previous configurations Lauron.
LAURON is biologically inspired by the stick insect. Like this insect, the robot has six legs fixed to a
central body. Each of the six legs is actuated by four joints. Each foot has a three-axis force sensor, and
each motor has a current sensor that detects forces opposing to its movement. At present the project is still
active. Gregor I has agility where the locomotion control depends upon the theory of the Central Pattern
Generator. The design of Gregor I had a biological inspiration where each leg pair has a unique design.
The front leg pair and the middle leg pair have three DoFs on each leg, and the rear leg pair has two
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DoFs. Another such hexapod robot was developed called Sprawlita which follows the basic principles of
locomotion of cockroaches which includes self-stabilizing posture, different functions for the legs,
passive viscoelastic structure, open-loop control and integrated construction. In 2005, the hexapod robot
named BILL-Ant-p was developed. The robot was based on behaviour and it is composed of three DoFs
on each leg with six force-sensing feet, a three-DoF neck and head, and actuated mandibles with force-
sensing for a total of 28 DoFs.
A series of hexapod named LEMUR (Limbed Excursion Mechanical Utility Robots robot) was developed
by Jet Propulsion Laboratory with the goals of using robots for re- pair and maintenance in near-zero
gravity on the surface of spacecraft. MARS (Multi Appendage Robotic System) was a hexapod mobile
robotic research platform developed after the LEMUR project for similar applications by employing
radial symmetry. MARS platforms were capable of walking in any direction without turning. In 2004, a
six-legged lunar robot called ATHLETE was developed by the Jet Propulsion Laboratory. This robot had
the ability to roll rapidly on rotating wheels over flat smooth terrain and walk carefully on fixed wheels
over irregular and steep terrain. ATH-LETE had a payload capacity of 450 kg, a diameter of around 4 m
and a reach of around 6 m. AQUA was an amphibious hexapod robot developed with six independently-
controlled leg actuators. One of the most important features of this robot was the ability to switch from
walking to swimming gaits as it is moving from a sand beach or surf-zone to deep water. The underwater
walking robot CR200 was built as based on the concept of Crabster [4].
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CHAPTER 2
LITERATURE SURVEY
The theories and pre-requisites regarding the motion and dynamics of the robot has been studied. The
movements of different types of robots, its joints, were studied. The rotation, revolution, orthogonal
twisting, linear joints, radial symmetry of different kinds of legged robots are studied. To build this
project many designs of hexapod were studied like controlling of the hexapod using servo-controller and
arduino. Control method used significantly reduces the workload on MCU so it can communicate
efficiently with the external devices. Also hexapods with legs radially distributing around the body are
studied for the efficient construction.
2.1 Development of Hexapod Robot with Manoeuvrable Wheel
The necessity to utilize the usage of the robot cannot be denied since there are a lot of natural disasters
occur everywhere around the world. This is why paper (M. Z. A. Rashid, M. S. M. Aras,A. A. Radzak, A.
M. Kassim and A. Jamali) proposes to use Hexapod robot .The robot that can be used in this situation
may be a remotely controlled by human or moves autonomously. Hexapod robot is one of the robots used
in this situation because of its stability and flexibility during the motion on any type of surface. Hexapod
robot is a robot that has six legs to walk or move. Since the robot has many legs, the robot is easily
programmed to move around because it can be configured to many types of gait such as alternating
tripod, quadruped and crawl. There are various designs of hexapod with certain function and advantages.
In this research, a hexapod robot with manoeuvrable wheel is designed and developed. The purpose of the
hexapod robot with maneuverable wheel is to ease the movement either on the flat surface or on the
inclined surface. On the flat surface, the robot will move using the maneuverable wheel while on incline
surface; the robot will climb using its legs. The decisions for the robot to use either wheel or legs are
based on the sensor devices and algorithm develops at the controller attached to the robots. The
kinematics and dynamics play a vital role and thus are crucial for the robot locomotion. It allows the
control of motion and is determinant for the path generation of the robot. We usually assume the leg of
the robot to be a manipulator, so the Denavit-Hartenberg notation is employed to derive the kinematic
model. The direct kinematics relates the joint variables to the position and orientation of the foot whereas
the inverse kinematic does the inverse as the name suggests.
It is important to note that we don’t look at the forces that cause the motion yet. The forces will be taken
into account while dealing with the dynamics. In general, two classical approaches are used for the
dynamic modelling: The Lagrange-Euler formulation19 or the Newton-Euler formulation. The first one is
based on the energy principles whereas the second relies on the balance of forces acting on the link. Both
lead to the same results and give an insight into the control problem. The “Free Body Diagram method”
has been introduced by Barreto al.20 as an alternative to the previous methods. The free body diagram
way reposed on the dynamics of isolated links. The details of the process are provided in the paper as well
as the kinematic modelling. The intricacy of the kinematic equations depends on the number of degree-of-
freedom of each leg. Huang have provided the methodology to solve the three degree-of-freedom leg. The
kinematic equations of a hexapod robot with legs distributed in a radial manner around the body have
been presented by Chenetal. The kinematic analysis is also highlighted in 5 and18 by the researchers.
Nitulescu et al. have established the legs. Kinematics and dynamics in their article. After getting the
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above mathematical equations, we need to simulate them and see if we can make some changes to
improve the design. In this view. Legged robots present significant advantages over traditional vehicles
with wheels and tracks. Wheeled vehicles demand paved surfaces (or at least regular)in order to move,
being extremely fast and effective in them. At the same time these mechanisms can be simple and
lightweight. However, more than 50% of the earth’s surface is inaccessible to traditional vehicles, it being
difficult, or even impossible, for wheeled vehicles to deal with large obstacles and surface unevenness.
Even all-terrain vehicles can only surpass small obstacles and surface unevenness, but at the cost of high
energy consumption (Bekker, 1960). Regarding tracked vehicles, although they present increased
mobility in difficult terrains, they are not able to surpass many of the difficulties and their energy
consumption is relatively high. To these problems, one must add the fact that traditional vehicles leave
continuous ruts on the ground, which in some situations is disadvantageous as, for instance, from the
environmental point of view. From what was seen, it is possible to conclude that legged locomotion
systems present a superior mobility in natural terrains, since these vehicles may use discrete footholds for
each foot, in opposition to wheeled vehicles, that need a continuous support surface. Therefore, these
vehicles may move in irregular terrains, by varying their legs configuration, in order to adapt themselves
to surface irregularities and, furthermore, the feet may establish contact with the ground in selected points
in accordance with the terrain conditions. For these reasons, legs are inherently adequate systems for
locomotion in irregular ground. When the vehicles move in soft surfaces, as for instance in sandy soil, the
ability to use discrete footholds in the ground can also improve the energy consumption [6].
Since they deform the terrain less than wheeled or tracked vehicles. Therefore, the energy needed to get
out of the depressions is lower (Bekk) and the contact are among the foot and the ground can be made in
such a way that the ground support pressure can be small. Moreover, the use of multiple degrees-of-
freedom (DOF) in the leg joints, allows legged vehicles to change their heading without slippage. It is
also possible to vary the body height, introducing a damping and decoupling effect between terrain
irregularities and the vehicle body (and as a consequence of its payload). In what concerns locomotion, it
should also be mentioned the possibility that these systems present to hugging themselves to the terrain in
which they move. This is particularly true, in case they move, for instance, over the outside surface of
pipes, in order to increase their balance ability (Kaneko et al., 2002). Although legged vehicles present all
these potential advantages, in the current state of development, there are several aspects that have to be
improved and optimized.
2.2 Evolutionary Strategies
Evolutionary strategies are an alternative way of imitating nature. The characteristics of animals are not
directly copied but, instead, the process that nature conceives for its generation and evolution is
replicated. One possibility to implement this idea makes use of GA as the engine to generate robot
structures (Farritor et al., 1996; Leger, 2000; Nolfi and Floreano, 2000; Pires et al., 2001). A modular
approach to the design is performed in these applications.
There is a library of elementary components, such as actuated joints, links, gears, power supplies,
amongst others. Several of these elements are combined in order to originate different structures. The
generated structures are evaluated, using pre-defined fitness functions, and recombined among them using
genetic operators. Finally, the selection process originates a robotic system that represents the best design
for a specific application. These computer applications present the capability of an easy reconfiguration
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and application in the generation of robotic systems for very distinct situations (Farritor, et al., 1996;
Leger, 2000). In the literature there are also works on which evolutionary strategies are adopted to
generate the structure of a specific robot. Jua´ rez-Guerrero et al. (1998) developed a biped robot using
evolutionary strategies. The final goal was to evolve the biped robot structure, equipped with a passive
tail to help keeping balance. The robot structure should be able to implement a simple gait and to fulfil a
set of restrictions, namely: minimum and maximum dimensions, maximum motor torque, step length
(lower than 0.30 m), maximum foot elevation (lower than 0.05 m) and maximum robot weight (lower
than 30 kg). The attained robot was built and its adequacy to the proposed task was verified. Besides the
locomotion mechanism, the process followed by these authors also allowed the optimization of the
distance between the robot centre of mass to the tail, the tail length and the foot surface. The use of GA
for optimizing the structure of a biped robot was also adopted by Ishiguro et al. (2002). In their study, the
robot was able to move passively, on sloped surfaces, and through actuated joints, in flat surfaces. In a
first phase, the robot body parameters (for example, length and body mass of each body part) were
optimized using a GA and assuming a passive robot. These authors considered for fitness function the
distance travelled by the robot and the number of steps taken, during a 20 sec downhill locomotion,
subject to the restriction that the height of the waist could not fall beyond 70% of the height of the upright
posture. After optimizing the robot structure (the developed structure was able to be implemented with
passive dynamic walking), these authors made use of a second GA to optimize the parameters of a
controller based on a Central Pattern Generator (CPG) scheme. In this second GA, the fitness function
was designed in such a way that an individual receives higher scores when it travels a longer distance
with less energy consumption.
The obtained results have shown that passive dynamic walkers provide significantly high evolvability
compared to other embodiments that cannot perform passive dynamic walking. These results lead to the
conclusion that embodiments showing passive dynamic walking can remarkably increase the efficiency of
developing controllers. Furthermore, although the size of the search space is larger in the case of coupled
evolution of morphology and control, the evolutionary runs that were conducted significantly outperform
others in which merely the biped controller is evolved. Contrary to the examples described previously,
where the structure and the control system are optimized separately, Lipson and Pollack (2000) proposed
the use of GA for the simultaneous generation of the mechanical structure and the robot controller. Given
the task of locomotion, they apply these ideas to evolve distinct robots, with different mechanics and
control, but that ultimately fulfil the desired objective. As the robot’s building blocks, are used linear
actuators and bars for the morphology, and sigmoidal neurons for the control? The fitness function was
defined as the net Euclidean distance that the centre-of-mass of an individual has moved over a fixed
number (12– 24) of cycles of its neural control. These authors performed several runs of the GA, for the
task of locomotion, and the evolved robots exhibited various methods of locomotion, including crawling,
ratcheting and some form of pedalism.
The emerged solution has the particularity that the robots are manufactured through rapid prototyping
methods and can be recycled after fulfilling their mission (Lipson and Pollack, 2000). Hornby et al.
(2001) further developed these ideas, and constructed an actual robot from an evolved design. Endo et al
also considered a GA to optimize simultaneously the structure and the control system of the biped
humanoid robot PINO. In order to start the optimization process (i.e., the evolution of the robot structure)
they used a model based on a multi-link structure. The result of the robot structure evolution was, in a
first phase, the optimum length of the links (Endo et al., 2002) and, in a second phase, the optimum
8

positioning and orientation of the servomotors. Regarding the control system, they studied two different
architectures, namely. A neural network and .Neural oscillators. The GA is multi-objective and is
implemented in two phases. In a first phase, the fitness function is based in the distance travelled by the
robot. The best 20 robots found in this phase are the initial population of the second phase where are
optimized fitness functions based on the energy efficiency and the stability of the robot locomotion (Endo
et al., 2003). The main criticism to the design approach based in evolutionary strategies lays in its
convergence. In fact, there is some uncertainty about achieving a solution, due to the high complexity
needed for the robot to be of practical use. As an example of a work that is being implemented one can
mention the robot developed by Endo and Maeno. The techniques of evolutionary programming have
proven useful in the optimization of legged robots, given the relative high number of parameters
presented by them (and that may be the object of optimization). However, until now only a reduced
number of prototypes have been built according to the results given by the studies developed so far.
Furthermore, there is no commonly accepted solution (an optimum design) for a walking robot that has
been the result of such a research approach and no study has yet been developed to compare the different
designs proposed by distinct researchers. 4. Mechanical project. The approaches to the systems design
discussed in the two previous sections are inspired in the strategies found in nature.
However, it is important to keep in mind that legged robots are machines. Therefore, the first aspect to
consider in their design phase should be the adequate implementation from the mechanical and physical
viewpoints. In this line of thought, Habumuremyi and Doroftei compiled the characteristics of several
structures that can be adopted for the legs of artificial locomotion systems. Hirose and Arikawa examined
several concepts to be adopted during the design of legged vehicles. The main idea is to maximize the
power developed in the system (concept of ‘coupled actuation’) and to maximize the energy efficiency
(concept of ‘actuator gravitational decoupling’). The technique of actuator gravitational decoupling was
adopted in several robots (Genta and Amati, Koyachi, Senta) and can be implemented not only during the
system design, but also in the posture during locomotion (Hirose and Arikawa). In some cases, for
designing a robot, empirical knowledge of mechanics and physics is supported as an adopted approach.
The design of the equipments has the objective of minimizing some situation penalizing the performance
of the robot under consideration (Hirose et al., Yamaguchi and Takanishi). Another method for the
optimization of the robot structure based on biology research (Alexander), considers legs equipped with
actuators introducing joint compliance.
In this way, it is possible to store and to release the kinetic and the potential energies of the robot legs and
body, during the different phases of the locomotion cycle. Raby and Orin make use of this approach with
a passive hexapod robot.The proposed robot has legs with two DOF, one rotational at the hip and one
prismatic at the knee, having each joint a spring to allow some compliance. After optimizing the
locomotion parameters, they conclude that is required a small amount of energy to keep the robot in the
periodic locomotion. 5. Optimization of power/energy based indices concerning the weakness of artificial
locomotion systems, one of the most serious problems faced by leg [7].
9

CHAPTER 3
METHODOLOGY
3.1 Statement of Problem
Hexapod walking robots have been one of the robots that has changed the pace in technology through
several years. Many studies have been carried out in the prospect of their development in research
canters, universities. However, only in the recent past have efficient walking machines been conceived,
designed and built with performances that can be suitable for practical applications. This project gives an
overview of the state of the art on hexapod walking robots and its limitations. Careful attention is given to
the main design issues and constraints that influence the technical feasibility and operation performance.
A design procedure is outlined in order to systematically design a hexapod walking robot. In particular,
the proposed design procedure takes into account the main features, such as mechanical structure and leg
configuration, actuating and driving systems, payload, motion conditions, and walking gait. 3
servomotors are used in this design. Each servomotor drives 2 legs of Hexapod. Middle legs are used to
lift the body while front and rear legs are used to move forward and backward and to give direction. All 3
servomotors are connected to Arduino Uno and work on Pulse Width Modulation technique. Motion of
Hexapod is controlled by Android App. Bluetooth module is used for wireless connectivity.
3.2 Need of the study
The robots are widely need in the recent era for a number of reasons, including hazardous jobs, automated
manufacturing and for space expeditions. Robots work without breaks or the need to sleep or eat, allows
the manufactures to processes, improve the output as required. Robots are used for in many roles for
cleaning up dangerous waste substances that are harmful for direct contact, chemical spills, disarming
bombs, protecting and providing information to the soldiers in the battle field. The humanoid robots are
actually designed for military purposes and are also being developed in the private sector for uses in
manual labour, to helping those with handicaps and for mobility issues.
Robots also provide precision and efficiency that is unmatched by the human hand, and one which is
repeatable over indefinite time frames. These characteristics make them ideal for precision cutting,
welding and assembly processes. Robots are also revolutionizing medical procedures, allowing many
types of surgery to be performed with non-invasive, out-patient procedures, as opposed to traditional
procedures requiring longer recovery times. Medical robots are now so advanced that they are being
employed in brain, heart and eye surgeries, allowing doctors to treat conditions that were previously only
possible through treatments nearly as dangerous as the offending condition. Hexapod platforms have
found use in high-end systems when precision positioning and multiple degrees of freedom are required.
Hexapods make use of parallel kinematics to achieve these high levels of precision and accuracy and can
often outperform traditional methods. Traditional methods generally involve serial kinematics in the form
of stacked translation and rotation stages. They have the advantage of being conceptually simple and
straightforward to implement, but often suffer from decreased stability. Despite the advantages of stability
and the freedom of motion hexapods offer, hexapods are often avoided because of their non-intuitive
nature. Inverse kinematics can be used to determine the interaction between the motions of the individual
linear actuators and the motion of the mobile platform of a hexapod. We endeavor to present a straight-
10

forward approach to understanding hexapod movements and provide insight into the advantages and
limitations of hexapod platforms.
3.3 Scope of Study
The robotic engineer have made robots which are efficient and proficient to do any kind of task ranging
from smaller tasks such as fitting small parts in the watches to most dangerous tasks such as the fuelling
of nuclear reactors. Though the robots are considered super machines they do have a lot of limitations.
Even with the wide range of advancements made in the robotic developments throughout the years by the
scientists, the robots that are made with profound study in the research and applications are yet to reach
the capabilities of a normal human being thus making it a challenge to the coming years and scientists to
work in the field. First in the basic robotics the robots are designed in such a way that they could perform
basic tasks and with the advancement in the field of robotics the robots are made capable of adapting to
the environment around it and also with further advancement in the functions of the robot it is made such
a way that they are capable of making their own decisions. During the construction of a robot the first and
the basic thing that is to be kept in the mind is to what their basic function would be. Here comes into
play the discussion about the scope of the robot and robotics. Robots have basic levels of complexity and
each level has its scope for performing the requisite function.
A six-legged walking robot should not be confused with a Stewart platform, a kind of parallel
manipulator used in robotics applications. A hexapod robot is a mechanical vehicle that walks on six legs.
Since a robot can be statically stable on three or more legs, a hexapod robot has a great deal of flexibility
in how it can move. If legs become disabled, the robot may still be able to walk.
3.4 Objective of Study
Hexapod robots are a programmable type of robot with six legs attached to the robot body. The legs
consist of servo motor and these servo motor are programmed in such a way that the robot can move
within its space. Hexapod robots are suitable for terrestrial and space applications. Hexapod robot have
various characteristics which includes unidirectional motion, variable geometry, good Stability, access to
diverse terrain, and fault tolerant locomotion. The main advantage of hexapod robot over wheeled robot is
that they can climb over obstacles. In fact, the use of wheels or crawlers limits the size of the obstacle that
can be climbed to half the diameter of the wheels whereas the legged robots can overcome obstacles that
are comparable with the size of the machine leg. Hexapod walking robots have greater mobility in natural
surroundings also benefit from a lower impact on the terrain. It is especially important in dangerous
environments like mine fields, or where it is essential to keep the terrain largely undisturbed for scientific
reasons. Hexapod legged robots have been used in exploration of remote locations and hostile
environments such as seabed, in space or on planets in nuclear power station, and in search and rescue
operations. Beyond this type of application, hexapod walking vehicles can also be used in a wide variety
of tasks such as forests harvesting, in aid to humans in the transport of cargo, as service robots and
entertainment.
Even though the hexapod has a lot of scope for advancement in the field that can be improved, the
hexapod lacks in various aspects. Some of their current disadvantages include higher complexity and cost,
low energy efficiency and relatively low speed. Walking robots are in fact complex and expensive
11

machines, consisting of many actuators, sensors, transmissions and supporting hardware.
The main objective of this project can be stated as follows:
1. Study the movement and dynamics of the Hexapod robot.
2. Designing the model of Hexapod robot.
3. To design the Hexapod basing on the market needs and making it available for selling in the market.
4. For modifying the design based on requirements.
5. To Analysis and simulation of the Hexapod.
6. Fabrication of Hexapod Testing
Fig. 3.1 Body of Robot
3.5 Design
3.5.1 Body
Chassis of the hexapod is very simple in construction. The important aspect of the chassis is that it should
be strong and it should also as light as possible. The best material for the chassis is rigid fibre or
aluminium body. But if power consumption for the hexapod is not important then we can use light steel
chassis also. The chassis of the hexapod involves three pairs of legs and one steel bar for connecting all
12

three pairs together. One cardboard block must be added on the top of the steel structure where the
Arduino Uno board and connecting circuit board and.Bluetooth module HC-05 is placed.
3.5.2 Legs
Each leg is in the shape as shown in figure. Each pair of legs can rotate around the point of the axis of
servo. Since the leg is attached via an arm of the servo the leg will move in a curve. We have used this
concept to achieve motion of legs in different orientations i.e. sweep and lift. Forward and rear pair of
legs are responsible for sweep motion while the middle legs are responsible for lift motion.
Fig 3.2 Leg Design
13

CHAPTER 4
HEXAPOD CONSTRUCTION
4.1 Robot body architecture
The hexapod robot body architecture is basically of two types: hexagonal and rectangular. The first has
legs distributed axe-symmetrically around the body, in a hexagonal or circular shape .The second one
has six legs distributed symmetrically along two sides, each side having three legs. A lot of study
references can be found in regard to that of on rectangular six-legged robots. There are many study
references regarding the longitudinal stability for rectangular hexapods. Bilateral symmetry may be
better suited than radial symmetry to move along a straight line. Also, the feasible walking gaits have
been widely investigated and tested. Rectangular architectures require a special gait for turning action;
they need four steps in order to realize a turning action.
Hexagonal shaped hexapod robots demonstrate better performances than rectangular shaped robots.
Hexagonal robots can have many kinds of gaits and can easily change direction in fact true radial
symmetry implies that all legs are equal there is thus no preferential direction for the motion. And also
found that hexagonal robots rotate and move in all directions at the same time, better than rectangular
ones, by comparing stability margin and stroke in wave gait and theoretically hexagonal hexapod
robots have superior stability margin, stride and turning ability compared to rectangular. It is also
proved that hexagonal hexapods can easily steer in all directions and that they have longer stability
margin robots.
4.2 Construction
The construction of hexapod involves the following parts:-
1. Chassis
2. Servomotors
3. Arduino Uno
4. Connecting Circuit board
5. Bluetooth module HC-05
6. Android App
4.2.1 Chassis
Chassis of the hexapod is very simple in construction. The important aspect of the chassis is that it
should be strong and it should also as light as possible. The best material for the chassis is rigid fibre
or aluminium body. But if power consumption for the hexapod is not important then we can use light
steel chassis also. The chassis of the hexapod involves three pairs of legs and one steel bar for
connecting all three pairs together. One cardboard block must be added on the top of the steel structure
where the Arduino Uno board and connecting circuit board and Bluetooth module HC-05 is placed.
14

4.2.2 Servomotors
The three servomotors are used to drive the hexapod. Each Servomotor drives two legs of the hexapod.
The servomotors are connected to the chassis with the help of specially designed connecting alloy bars.
The most of the weight of the hexapod is due to the weight of the servomotors only. Hence it is very
important to design the hexapod with lesser number of servomotors. The servomotors can only be used
to drive the hexapod due to two major reasons. The first reason behind the use of the servomotors is
that it provides programmable rotation that can easily be programmed by changing the code only. The
speed of the rotation of the blades of the servomotors can also be programmed. The second reason
behind the use of servomotors in hexapod is that it provides high torque which helps in lifting the
hexapod body and also helps in making forward and backward motion. Though we are using the three
servomotors only so it is very important that they could generate large torque which can lift the whole
body of the servomotors [8].
4.3 Hardware
4.3.1 Servomotor
3 servomotors are used in this project, three servomotors for each leg. To carry out angular
displacement, a servomotor is used. The signal received by servomotor determines the angle of
rotation. As this type of motors is limited to 180 degrees, they cannot perform a full rotation.
15

Fig: 4.1 Block Diagram of Servomotor (servo motor)
16

A servomotor consists of four parts:
1. A DC motor.
2. A speed reducing gear system (which reduces speed of rotation of output shaft and increases the
torque).
3. Potentiometer (which generates a variable voltage proportional to the angle of output shaft).
4. An electronic control circuit. A servomotor has three outputs (GND, VCC and PWM).
A Servo is a small device that has an output shaft. This shaft can be positioned to specific angular
positions by sending the servo a coded signal. As long as the coded signal exists on the input line, the
servo will maintain the angular position of the shaft. As the coded signal changes, the angular position
of the shaft changes. In practice, servos are used in radio controlled airplanes to position control
surfaces like the elevators and rudders. They are also used in radio controlled cars, puppets, and of
course, robots.
Fig. 4.2 Futaba S-148 Servo
 All servos have three wires:
 Black or Brown is for ground.
 Red is for power (~4.8-6V).
 Yellow, Orange, or White is the signal wire (3-5V).
4.3.1.1 Servo Voltage (Red and Black/Brown wires):
Servos can operate under a range of voltages. Typical operation is from 4.8V to 6V. There are a few
micro sized servos that can operate at less, and now a few hitec servos that operate at much more. The
reason for this standard range is because most microcontrollers and RC receivers operate near this
voltage. So what voltage should you operate a Well, unless you have a battery voltage/current/power

limitation, you should operate at 6V. This is simply because DC motors have higher torque at higher
voltages.
4.3.1.2 Signal Wire (Yellow/Orange/White wire):
While the black and red wires provide power to the motor, the signal wire is what you use to command
the servo. The general concept is to simply send an ordinary logic square wave to your servo at a
specific wave length, and your servo goes to a particular angle (or velocity if your servo is modified).
The wavelength directly maps to servo angle. Servo current operates the same as in a DC motor,
except that you now also have a hard to predict feedback control system to contend with. If your DC
motor is not at the specified angle, it will suddenly draw huge amounts of current to reach that angle.
But there are other peculiarities as well. If you run an experiment with a servo at a fixed angle and
hang precision weights from the servo horn, the measured current will not be what you expect. One
would think that the current would increase at some fixed rate as the weights increased linearly.
Instead you will get unpredictable curves and multiple rates.
Servos are extremely useful in robotics. The motors are small, as you can see by the picture above,
have built in control circuitry, and are extremely powerful for thier size. A standard servo such as the
Futaba S-148 has 42 oz/inches of torque, which is pretty strong for its size. It also draws power
proportional to the mechanical load. A lightly loaded servo, therefore, doesn't consume much energy.
The guts of a servo motor are shown in the picture below. You can see the control circuitry, the motor,
a set of gears, and the case. You can also see the 3 wires that connect to the outside world. One is for
power (+5volts), ground, and the white wire is the control wire. So, how does a servo work? The servo
motor has some control circuits and a potentiometer (a variable resistor, aka pot) that is connected to
the output shaft. In the picture above, the pot can be seen on the right side of the circuit board. This pot
allows the control circuitry to monitor the current angle of the servo motor. If the shaft is at the correct
angle, then the motor shuts off. If the circuit finds that the angle is not correct, it will turn the motor the
correct direction until the angle is correct. The output shaft of the servo is capable of travelling
somewhere around 180 degrees. Usually, it’s somewhere in the 210 degree range, but it varies by
manufacturer. A normal servo is used to control an angular motion of between 0 and 180 degrees. A
normal servo is mechanically not capable of turning any farther due to a mechanical stop built on to
the main output gear.
The amount of power applied to the motor is proportional to the distance it needs to travel. So, if the
shaft needs to turn a large distance, the motor will run at full speed. If it needs to turn only a small
amount, the motor will run at a slower speed. This is called proportional control. How do you
communicate the angle at which the servo should turn? The control wire is used to communicate the
angle. The angle is determined by the duration of a pulse that is applied to the control wire. This is
called Pulse Coded Modulation. The servo expects to see a pulse every 20 milliseconds (.02 seconds).
The length of the pulse will determine how far the motor turns. A 1.5 millisecond pulse, for example,
will make the motor turn to the 90 degree position (often called the neutral position). If the pulse is
shorter than 1.5 ms, then the motor will turn the shaft to closer to 0 degress. If the pulse is longer than
1.5ms, the shaft turns closer to 180 degress. As you can see in the picture, the duration of the pulse
dictates the angle of the output shaft (shown as the green circle with the arrow). Note that the times
here are illustrative, and the actual timings depend on the motor manufacturer. The principle, however,

is the same.
Fig.4.3 Servomotor waveforms
As you can see in the picture, the duration of the pulse dictates the angle of the output shaft (shown as
the green circle with the arrow). Note that the times here are illustrative, and the actual timings depend
on the motor manufacturer. The principle, however, is the same [9].

Fig.4.4 Disassembled Servo
4.3.2 Arduino
The Arduino UNO is a widely used open-source microcontroller board based on the AT-mega328P
microcontroller and developed by Arduino. The board is equipped with sets of digital and analog
input/output (I/O) pins that may be interfaced to various expansion boards (shields) and other circuits.
The board features 14 Digital pins and 6 Analog pins. It is programmable with the Arduino IDE
(Integrated Development Environment) via a type B USB cable. It can be powered by a USB cable or
by an external 9 volt battery, though it accepts voltages between 7 and 20 volts. General Pin functions
LED: There is a built-in LED driven by digital pin 13. When the pin is HIGH value, the LED is on,
when the pin is LOW, it’s off. VIN: The input voltage to the Arduino/Genuino board when it’s using
an external power source (as opposed to 5 volts from the USB connection or other regulated power
source). You can supply voltage through this pin, or, if supplying voltage via the power jack, access it
through this pin. SV: This pin outputs a regulated SV from the regulator on the board. The board can
be supplied with power either from the DC power jack (7 - 20V), the USB connector (5V), or the VIN
pin of the board (7-20V). Supplying voltage via the SV or 3.3V pins bypasses the regulator, and can
damage the board. 3V3:A 3.3 volt supply generated by the on-board regulator. Maximum current draw
is 50 mA. GND: Ground pins. IOREF: This pin on the Arduino/Genuino board provides the voltage
reference with which the microcontroller operates. A properly configured shield can read the IOREF
pin voltage and select the appropriate power source or enable voltage translators on the outputs to
work with the SV or 3.3V. Reset: Typically used to add a reset button to shields which block the one
on the board.The ATmega328 provides UART TTL (5V) serial communication, which is available
on digital pins 0 (RX) and 1 (TX). An ATmegal6U2 on the board channels this serial communication
over USB and appears as a virtual com port to software on the computer.
Fig4.5 Arduino UNO

The Arduino Uno can be powered via the USB connection or with an external power supply. The
power source is selected automatically. External (non-USB) power can come either from an AC-to-
DC adapter (wall-wart) or battery. The adapter can be connected by plugging a 2.1mm center-
positive plug into the board's power jack. Leads from a battery can be inserted in the Gnd and Vin
pin headers of the POWER connector. The board can operate on an external supply of 6 to 20 volts.
If supplied with less than 7V, however, the 5V pin may supply less than five volts and the board
may be unstable. If using more than 12V, the voltage regulator may overheat and damage the board.
The recommended range is 7 to 12 volts. The power pins are as follows:
Fig 4.6 Pin diagram
1. VIN. The input voltage to the Arduino board when it's using an external power source (as
opposed to 5 volts from the USB connection or other regulated power source). You can supply
voltage through this pin, or, if supplying voltage via the power jack, access it through this pin.
2. 5V.This pin outputs a regulated 5V from the regulator on the board. The board can be supplied
with power either from the DC power jack (7 - 12V), the USB connector (5V), or the VIN pin
of the board (7-12V). Supplying voltage via the 5V or 3.3V pins bypasses the regulator, and can
damage your board. We don't advise it.
3. 3V3. A 3.3 volt supply generated by the on-board regulator. Maximum current draw is 50 mA.

4. GND. Ground pins.
The ATmega328 has 32 KB (with 0.5 KB used for the bootloader). It also has 2 KB of SRAM and 1
KB of EEPROM (which can be read and written with the EEPROM library).Each of the 14 digital pins
on the Uno can be used as an input or output, using pinMode(), digitalWrite(), and digitalRead()
functions. They operate at 5 volts. Each pin can provide or receive a maximum of 40 mA and has an
internal pull-up resistor (disconnected by default) of20-50 kohms. In addition, some pins have
specialized functions.
Serial: 0 (RX) and 1 (TX). Used to receive (RX) and transmit (TX) TTL serial data. These pins are
connected to the corresponding pins of the ATmega8U2 USB-to-TTL Serial chip. External Interrupts:
2 and 3. These pins can be configured to trigger an interrupt on a low value, a rising or falling edge, or
a change in value. See the attach Interrupt () function for details.PWM: 3, 5, 6, 9, 10, and 11. Provide
8-bit PWM output with the analog Write () function.SPI: 10 (SS), 11 (MOSI), 12 (MISO), 13 (SCK).
These pins support SPI communication using the SPI library. LED: 13. There is a built-in LED
connected to digital pin 13. When the pin is HIGH value, the LED is on, when the pin is LOW, it's
off.
The Uno has 6 analog inputs, labeled A0 through A5, each of which provide 10 bits of resolution (i.e.
1024 different values). By default they measure from ground to 5 volts, though is it possible to change
the upper end of their range using the AREF pin and the analogReference () function. Additionally,
some pins have specialized functionality:
1. TWI: A4 or SDA pin and A5 or SCL pin. Support TWI communication using the Wire library.
There are a couple of other pins on the board:
2. AREF. Reference voltage for the analog inputs. Used with analog Reference ().
3. Reset. Bring this line LOW to reset the microcontroller. Typically used to add a reset button to
shields which block the one on the board.
The Arduino Uno has a number of facilities for communicating with a computer, another Arduino, or
other microcontrollers. The ATmega328 provides UART TTL (5V) serial communication, which is
available on digital pins 0 (RX) and 1 (TX). An ATmega16U2 on the board channels this serial
communication over USB and appears as a virtual com port to software on the computer. The '16U2
firmware uses the standard USB COM drivers, and no external driver is needed. However, on
Windows, a .inf file is required. The Arduino software includes a serial monitor which allows simple
textual data to be sent to and from the Arduino board. The RX and TX LEDs on the board will flash
when data is being transmitted via the USB-to-serial chip and USB connection to the computer (but
not for serial communication on pins 0 and 1).A SoftwareSerial library allows for serial
communication on any of the Uno's digital pins.The Arduino Uno can be programmed with the
Arduino software (download). Select "Arduino Uno from the Tools > Board menu (according to the
microcontroller on your board). For details, see the reference and tutorials.
The ATmega328 on the Arduino Uno comes preburned with a bootloader that allows you to upload
new code to it without the use of an external hardware programmer. It communicates using the original
STK500 protocol (reference, C header files).You can also bypass the bootloader and program the

microcontroller through the ICSP (In-Circuit Serial Programming) header; see these instructions for
details.
The ATmega16U2 (or 8U2 in the rev1 and rev2 boards) firmware source code is available. The
ATmega16U2/8U2 is loaded with a DFU bootloader, which can be activated by, On Rev1 boards:
connecting the solder jumper on the back of the board (near the map of Italy) and then resetting the
8U2.On Rev2 or later boards: there is a resistor that pulling the 8U2/16U2 HWB line to ground,
making it easier to put into DFU mode. Rather than requiring a physical press of the reset button
before an upload, the Arduino Uno is designed in a way that allows it to be reset by software running
on a connected computer. One of the hardware flow control lines (DTR) of the ATmega8U2/16U2 is
connected to the reset line of the ATmega328 via a 100 Nano farad capacitor. When this line is
asserted (taken low), the reset line drops long enough to reset the chip. The Arduino software uses this
capability to allow you to upload code by simply pressing the upload button in the Arduino
environment. This means that the bootloader can have a shorter timeout, as the lowering of DTR can
be well-coordinated with the start of the upload. This setup has other implications. When the Uno is
connected to either a computer running Mac OS X or Linux, it resets each time a connection is made to
it from software (via USB). For the following half-second or so, the bootloader is running on the Uno.
While it is programmed to ignore malformed data (i.e. anything besides an upload of new code), it will
intercept the first few bytes of data sent to the board after a connection is opened. If a sketch running
on the board receives one-time configuration or other data when it first starts, make sure that the
software with which it communicates waits a second after opening the connection and before sending
this data.
The Uno contains a trace that can be cut to disable the auto-reset. The pads on either side of the trace
can be soldered together to re-enable it. It's labeled "RESET-EN". You may also be able to disable the
auto-reset by connecting a 110 ohm resistor from 5V to the reset line; see this forum thread for details
The Arduino Uno has a resettable polyfuse that protects your computer's USB ports from shorts and
overcurrent. Although most computers provide their own internal protection, the fuse provides an extra
layer of protection. If more than 500 mA is applied to the USB port, the fuse will automatically break
the connection until the short or overload is removed. The maximum length and width of the Uno PCB
are 2.7 and 2.1 inches respectively, with the USB connector and power jack extending beyond the
former dimension. Four screw holes allow the board to be attached to a surface or case. Note that the
distance between digital pins 7 and 8 is 160 mil (0.16"), not an even multiple of the 100 mil spacing of
the other pins.
4.3.3 Power Supply
A power supply is an electrical device that supplies electric power to an electrical load. The primary
function of a power supply is to convert electric current from a source to the correct voltage, current,
and frequency to power the load. As a result, power supplies are sometimes referred to as electric
power converters.Other functions that power supplies may perform include limiting the current drawn
by the load to safe levels, shutting off the current in the event of an electrical fault, power conditioning
to prevent electronic noise or voltage surges on the input from reaching the load, power-factor
correction, and storing energy so it can continue to power the load in the event of a temporary
interruption in the source power.

4.3.4 Bluetooth Module
Bluetooth is a wireless technology used to transfer data between different electronic devices. The
distance of data transmission is small in comparison to other modes of wireless communication. This
technology eradicates the use of cords, cables, adapters and permits the electronic devices to
communicate wirelessly among each other. HC-05 module is an easy to use Bluetooth SPP (Serial Port
Protocol) module, designed for transparent wireless serial connection setup. Serial port Bluetooth
module is fully qualified Bluetooth V2.0+EDR (Enhanced Data Rate) 3Mbps Modulation with
complete 2.4GHz radio transceiver and baseband. It uses CSR Bluecore 04-External single chip
Bluetooth system with CMOS technology and with AFH (Adaptive Frequency Hopping Feature). It
has the footprint as small as 12.7mmx27mm. Hope it will simplify your overall design/development
cycle. Bluetooth technology was discovered to have wireless protocols to connect several electronic
devices and as a solution to synchronize the data. The Bluetooth standard is maintained by the
Bluetooth Special Interest Group. At the physical layer, the Bluetooth RF transceiver is positioned. At
around 79 Bluetooth channels are placed with a space of 1MHz. Transmission of data and voice are
achievable at short distances and thereby creating Wireless Pans. A Bluetooth device is comprised of
an adapter. A Bluetooth adapter can be available in the form of a card to connect the device or
integrated into an electronic device. Link Management Protocol (LMP) is responsible for peer – to –
peer message exchange when the electronic devices interfere in each other’s radio range. This layer
creates the link and negotiation of packet size. If required this layer can perform the segmentation and
reassembling of the packets.
Fig.4.5 HC-05 Bluetooth Module
The Bluetooth device enabled by the Service delivery protocol joins the piconet and enquires with all
the services available. A pioneer has a star topology with one master and seven slaves. The concept of
Master and Slave is used in the Bluetooth technology. Only after the master takes the initial action, the

devices can begin to talk. Bluetooth GloballD is exchanged among the electronic devices and a
connection is build up after the profiles are matched. Get in-depth of Bluetooth Protocol Stack here.
Frequency hopping is used in the Bluetooth technology to avoid interfering with other signals. After
the packet is transmitted or received, the Bluetooth signal hops to a new frequency. Each packet can
cover five time slots.
4.3.4.1 Hardware Features
1. Typical -80dBm sensitivity.
2. Up to +4dBm RF transmit power.
3. Low Power 1.8V Operation, 1.8 to 3.6V I/O.
4. PIO control.
5. UART interface with programmable baud rate.
6. With integrated antenna.
7. With edge connector.
4.3.4.2 Software Features
1. Default Baud rate: 38400, Data bits: 8, Stop bit: 1, Parity: No parity, Data control: has.
2. Supported baud rate: 9600,19200,38400,57600,115200,230400,460800.
3. Given a rising pulse in PIO0, device will be disconnected.
4. Status instruction port PIO1: low-disconnected, high-connected;
5. PIO10 and PIO11 can be connected to red and blue led separately. When master and slave are
paired.
6. Auto-connect to the last device on power as default.
7. Permit pairing device to connect as default.
8. Auto-pairing PINCODE:”0000” as default
CHAPTER 5
WORKING OF HEXAPOD
5.1 Block diagram

Fig 5.1 Block diagram of hexapod robot
5.1.1Arduino Uno
The Arduino Uno board acts as a brain for the hexapod. Arduino Uno controls all the components of
the hexapod. Arduino Uno helps in making the coordinated action. All three Servomotors are
connected to the Arduino Uno board. Arduino Uno board controlled the rotation of the blade of the
servomotors. Arduino Uno board also controls the timing of the working of the each servomotor which
helps in coordinated motion of the hexapod. Arduino Uno board uses the Atmega series of the AVR
microcontroller which is developed by the Atmel. In the hexapod we have used the Atmega 328
microcontroller in Arduino Uno board. The Architecture of the AVR microcontroller involves central
processing unit, general purpose register, interrupts, instruction control unit, timers, input/output ports.
4.1.2 Bluetooth Device
Bluetooth is the wireless communication protocol for short range, low power & low cost transmission
between electronic devices. The Bluetooth that we are using is Bluetooth module HC-05.Bluetooth
module HC-05 has six pins.
1. Key – Select master or slave, since the module is programmed for slave so we are not using this
particular pin.
2. VCC- this pin is used to give power supply to the Bluetooth module.
3. GND- This pin is used to ground the device.
4. TXD- the purpose of this pin on the Bluetooth module HC-05 is to send the received signal from the
mobile to microcontroller.
5. RXD-This is not needed as the module is being used as a slave.
6. STATE- Indicate whether the signal will be set or not.

5.1.3 Connecting Circuit Board
The connecting circuit board is placed over the cardboard. The connecting circuit board helps in
making the connection between the Arduino uno, Bluetooth module, and servomotor. The main supply
is given to the circuit via adaptor to the connecting circuit board. Connecting circuit board helps in
easy understanding of the connection of the different equipment.
5.1.4 Android Application
The Android Application is run on the mobile phone. Android Application establishes the connection
with the Bluetooth module HC-05. All the commands are given by the Android application only. The
ABC app is a simple app that I first created to allow me to monitor Arduino pins and to give me basic
control functions. It isn’t designed for complex control. I have received many comments and
suggestions about the ABC app and as a result I created the new Bluetooth Control Panel app. This
features better control functions and was designed around the function rather than the Arduino
pin.Arduino Bluetooth Control is a simple to use Android app for controlling and/or monitoring
Arduino pins over Bluetooth. The app is self contained and all initialization is done from the Arduino
sketch. It is designed around Arduino pins rather than control function.
5.2 Working of Hexapod
The Arduino Uno will have to initialize the component that attached to it, the serial communication for
Bluetooth devices, zero setting of the servomotors as that had been done already before fixing the
servomotors and stop condition for the hexapod.It will than start the loop required, to execute the
action required .The Arduino Uno will check for the availability of the data. If the data is available
then Arduino Uno will read the data serially.
5.2.1 Reading the data from the Bluetooth module HC-05
The Arduino Uno hardware has in-built support for serial communication on pin 0 and pin1 which also
goes to the computer via USB connection. The Arduino Uno’s serial communication pins are occupied
by the USB connection of the computer we will use the digital pins of Arduino Uno to communicate
with Bluetooth module. The hexapod is powered by the main supply via adapter. The input to the
adapter is 100-240 VAC with frequency range of 50-60 Hz .the input current to the adapter is 0.15 A.
The outputs of the adapter is 5V with current of 1.0 A. The android application installed on the mobile
phone is used to give the command to hexapod. The commands available on the android application
are left, right, forward and backward. The signal is send to the Bluetooth Module HC-05 via in-built
Bluetooth chip of the mobile phone. The signal received by the Bluetooth module HC-05 is send to the
Arduino Uno. The signal is send to the Arduino Uno from Bluetooth module HC-05 serially only.
Now, the Arduino Uno runs the program based upon the input received from the Bluetooth module
HC-05. The Arduino Uno send the series of signal to the servomotors which moves the legs of the
hexapod as needed, to achieve the required motion.

5.3 Working Cycle
5.3.1 Forward motion
1. Move the middle leg of the hexapod by 120 degree. This will help the hexapod to lift the body
up with the angle of 30 degree from the surface.
2. Move the front and rear legs of the hexapod by 60 degree. This will pull forward the hexapod
using right front and right rear legs which are in contact with ground.
3. Move the middle leg of the hexapod to 90 degree. This will bring back all the legs down. Bring
body to level position.
4. Move the middle leg of the hexapod to 90 degree. This will lift the right side of the hexapod up
with the angle of 30 degree from the surface.
5. Move the front and rear legs of the hexapod to 90 degree. This will pull forward the hexapod
using the left front and left rear legs which are in the ground .This will bring them to neutral
position.
6. Move the middle leg of the hexapod to 90 degree. This will bring all the legs down, the body of
hexapod will be in level positions.
5.3.2 Backward motion
2. Move the front and rear legs of the hexapod by 120 degree. This will push backward the
hexapod using right fornt and right rear legs which are in contact with ground.
5. Move the fornt and rear legs of the hexapod to 90 degree. This will push backward the hexapod
using the left fornt and left rear legs which are in the ground .This will bring them to neutral
position.
6. Move the middle leg of the hexapod to 90 degree. This will bring all the legs down. The body of
hexapod will be in level position.
5.3.3 Left motion
2. Move the front legs of the hexapod by 120 degree
3. Move the rear legs of the hexapod by 60 degree
6. Move the fornt and rear legs of the hexapod to 90 degree. This will pull forward the hexapod

using the left fornt and left rear legs which are in the ground .This will bring them to neutral
position.
5.3.4 Right motion
2. Move the front legs of the hexapod by 20 degree.
3. Move the rear legs of the hexapod by 140 degree.
6. Move the front and rear legs of the hexapod to 90 degree. This will pull forward the hexapod
using the left front and left rear legs which are in the ground .This will bring them to neutral
position.
Fig 5.2 Working block diagram
5.4 Advantages
1. Hexapod robots have a large number of real life applications, from crossing po- tentially

dangerous terrain to carrying out search and rescue operations in hazardous and unpredictable
disaster zones (Karalarli, 2003). They have a number of advantages over wheeled, quadruped or
bipedal robots.
2. While wheeled robots are faster on level ground than legged robots, hexapods are the fastest of
the legged robots, as they have the optimum number of legs for walking speed - studies have
shown that a larger number of legs does not increase walking speed.
3. Hexapods are also superior to wheeled robots because wheeled robots need a continuous, even
and most often a pre-constructed path. Hexapod robots however can traverse uneven ground,
step over obstacles and choose footholds to maximise stability and traction (Ding et al, 2010).
4. Having maneuverable legs allows hexapods to turn around on the spot (Ding et al, 2010).
5. In comparison to other multi-legged robots, hexapods have a higher degree of stability as there
are can be up to 5 legs in contact with the ground during walking. Also, the robots center of
mass stays consistently within the tripod created by the leg movements, which also gives great
stability.
6. Hexapods also show robustness, because leg faults or loss can be managed by changing the
walking mechanism.
7. This redundancy of legs also makes it possible to use one or more legs as hands to perform
dexterous tasks.
8. Because of all of these benefits, hexapod robots are becoming more and more common, and it
will be interesting to see what modifications roboticists come up with to further improve and
develop their form and function.
9. Wheeled robots are faster on flat surfaces compared to legged robots. However, they are
horrible on uneven terrain in which legged robots excel. Some studies have shown that having
legs larger than six does not increase walking speed, making hexapods arguably the fastest
among legged robots.
10. Legged robots like hexapods can traverse uneven ground, step over obstacles and can choose
footholds to maximize stability and traction unlike wheeled robots that need even flat surfaces.
11. A hexapod can still travel by changing its walking mechanism even if some of its legs
malfunction or gets damaged.
12. Hexapods can also use one or more of its legs as hands to perform dexterous tasks while
maintaining stability even when travelling.
13. A Hexapod is very stable because there can be up to five legs in contact with the ground when
travelling. Even in tripod gait walking in which three legs move at a time, the center of gravity
of a hexapod consistently stays within the tripod.
5.5 Future Work
• Improve the performance
• Energy consumption
• Movement and speed of the robot
• Stabi1ity
• Rotational capability
• Multitasking

CONCLUSION
We have completed several experiments on our hexapod robot. These experiments can be
categorized into two major sectors. Firstly, we focused on the walking of the robot. Finally. We
experimented on the life detection algorithm using the arduino IDE. This project emphasis the need
for developing the legged robot rather than the wheeled robot. The model which is designed is
basically based on the structure of six legged insects and its movements. This hexapod model is
mainly designed for in places such as the after effects of the war and disaster zones which have an
ability of obstacle avoidance, surveillance. It is designed in such a way that it has improved
stability and performance compared to the other legged robots.
Many experiments and tests are made to improve the overall performance of the robot and the
future work will be concentrated on the energy consumption, movement and speed of the robot.
Note that the times here are illustrative and the actual timings depend on the motor manufacturer.
The principle, however, is the same. After the completion of our prototype hexapod, while we tried
to run the robot we faced power failure as we did not powered up the servo motors properly.
Moreover, the robot was carrying a lot of weights. As a result, it was not able to stand in its feet.
Besides, the ration of each part of legs was not balanced, so the leg movements were not smooth.
All these drawbacks led us to develop the second version of the hexapod. In this updated version,
we made all the parts smaller. We also used a servo-controller to make sure the power issue has
been taken care of. Moreover, we replaced the power bank with cell phone adapter to reduce the
overall weight of the robot. After these modifications, the robot is currently able to stand in its feet
and move forward, backward, left and right. We have tested these movements both in plain surface
and irregular surface. The robot performs a perfect movement in the plain surface. However, it
faces some challenges moving in any surface with a slope. We increased the grip of each leg and it
shows slightly better performance. We tried to move the robot in stairs but it is still not capable of
doing so.

ANNEXURE
I. Program to test servomotor: 180 degree rotation
#include <Servo.h>
Servo myservo; // create servo object to control a servo
/ twelve servo objects can be created on most boards int pos = 0; // variable to store the servo position
void setup()
{
myservo.attach(9); // attaches the servo on pin 9 to the servo object
}
void loop() {
for (pos = 0; pos <= 180; pos += 1)
{ /
/ goes from 0 degrees to 180 degrees // in steps of 1 degree
myservo.write(pos);
delay(15);
// tell servo to go to position in variable 'pos' // waits 15ms for the servo to reach the position
}
for (pos = 180; pos >= 0; pos -= 1)
{
// goes from 180 degrees to 0 degrees
myservo.write(pos); // tell servo to go to position in variable 'pos' delay(15); // waits 15ms for the
servo to reach the position
}
}
II. Program for zero setting of servomotor
#include <Servo.h>
Servo lift;

Servo rear;
Servo front;
void setup()
{
lift.attach(90);
rear.attach(90);
front.attach(90);
lift.write(90);
rear.write(90);
front.write(90);
delay(1000);
}
void loop()
{
}
III. Program for Bluetooth command testing
#include <Servo.h>
#include <SoftwareSerial.h>
SoftwareSerial BT(12,13);//TX,RX respectively
Servo lift;
Servo front;

Servo rear;
String response;
int state;
void setup()
{
/ put your setup code here, to run once: Serial.begin(9600); BT.begin(9600);
lift.attach(10);
rear.attach(11);
front.attach(9);
lift.write(90);
rear.write(90);
front.write(90);
delay(2000);
}
void serialRead()
{
while (BT.available())
{
char c=BT.read();
response+=c;
if (response.length()>0)
{
Serial.println(response);

if (response =="w"){state=1;
}
else if(response =="b"){state =2;
}
else if (response =="l"){state = 3;
}
else if (response =="r"){state =4;
}
else if (response =="s"){state = 5;
}
}
response = "";
}
}
void loop() {
/ put your main code here, to run repeatedly: serialRead();
switch(state)
{ c
ase 1:
forward();//call function to walk forward when state =1 break;
case 2:
backward();//call function to walk backward when state = 2 break;
case 3:
left(); //call function to turn left when state =3 break;
case 4:

right();//turn right break;
case 5:
Stop(); break;
}
}
IV. Final code for Hexapod
#include <Servo.h>
#include <SoftwareSerial.h>
SoftwareSerial BT(12,13);//TX,RX respectively
Servo lift;
Servo front;
Servo rear;
String response;
int state;
void setup()
{
/ put your setup code here, to run once: Serial.begin(9600); BT.begin(9600);
lift.attach(10);
rear.attach(11);
front.attach(9);
lift.write(90);
rear.write(90);
front.write(90);

delay(2000);
}
void forward()
{
//to move forward
lift.write(120);
delay(100);
front.write(60);
rear.write(60);
delay(100);
lift.write(90);
delay(100);
front.write(90);
rear.write(90);
delay(100);
lift.write(90);
delay(100);
}
void backward()
{
//to move backward
lift.write(120);

delay(100);
front.write(120);
rear.write(120);
delay(100);
lift.write(90);
delay(100);
lift.write(60);
delay(100);
front.write(90);
rear.write(90);
delay(100);
lift.write(90);
delay(100)
}
void left()
{
//to move left
lift.write(120);
delay(100);
front.write(120);
rear.write(60);
delay(100);
lift.write(90);

delay(100);
lift.write(60);
delay(100);
front.write(90);
rear.write(90);
delay(100);
lift.write(90);
delay(100);
}
void right()
{
/ move right lift.write(120); delay(100); front.write(50); rear.write(130); delay(100);
lift.write(90); delay(100); lift.write(60); delay(100); front.write(90); rear.write(90); delay(100);
lift.write(90); delay(100);
}
void Stop()
{
lift.write(90);
delay(100);
front.write(90);
delay(100);
rear.write(90);
delay(100);
}

void serialRead(){
while (BT.available()){
char c=BT.read();
response+=c;
if (response.length()>0)
{
Serial.println(response);
if (response =="w"){state=1;
}
else if(response =="b"){state =2;
}
else if (response =="l"){state = 3;
}
else if (response =="r"){state =4;
}
else if (response =="s"){state = 5;
}
}
response = "";
}
}
void loop()
{
/ put your main code here, to run repeatedly: serialRead();
switch(state)
{
case 1:

forward();//call function to walk forward when state =1 break;
case 2:
backward();//call function to walk backward when state = 2 break;
case 3:
left(); //call function to turn left when state =3 break;
case 4:
right();//turn right break;
case 5:
Stop(); break;
}
}
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Technology, Vol. 49. Dec 2012.
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Symposium on Automation and Robotics in Construction of the Conference, Ferrara, Italy,
11aA§14 September 2005; p. 37.
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walking robot CR200. In Proceedings of the OCEANSaAZ13 MTS/IEEE of the Conference,
San Diego, CA, USA, 23aA§26 September 2013; pp. 1aA§5.
9. Georgiades, C. Simulation and Control of an Underwater Hexapod Robot. M.D. Thesis, McGill
University, Montreal, QC, Canada, 2005.
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Report-NP-3941, Research Report Center: Palo Alto, CA, USA, 1985.
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Akita, Japan, 26aA§28 May 2007.
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22. Raibert, M. Legged Robots that Balance; MIT Press: Cambridge, London, 1986; pp.
180aA§201.
23. Byrd, J.; de Vries, K. A six-legged telerobot for nuclear applications development. Int.
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of Motion Walking Apparatus; Nauka Press: Moscow, Russia, 1982; pp. 86aA§91.
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Cambridge, London, 1989; pp. 283aA§299.
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28. Bares, J.; Hebert, M.; Kande, T.; Krotkov, E.; Mitchell, T.; Simmons, R.; Whit- taker, Ambler:
An autonomous rover for planetary exploration. IEEE Comput. 1989, 22, 18aA§26.
29. Angle, C.A.; Brooks, R.A. Small planetary rovers. In Proceedings of the IEEE International
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Design and simulation of a cockroach-like hexapod robot. In Pro- ceedings of the 1997 USA
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2000, 30, 5aA§15.
33. https://www.skyfilabs.com/account/dashboard
Major Project- PLO Mapping

Tick what is relevant
S.No. Details Project Mapping
Title of the Project Hexapod :Bluetooth
controlled six legged robot
Objective of the project To design six legged walking
robot controlled by bluetooth
Student Name Shiv Kumar Rai
Student Roll Number 1505232039
Area of Research/Project Electronics and Robotics
Expected Outcome Movement of Hexapod
controlled by Bluetooth
(forward,backward,left,right
)
Mapping with project with PLO
1 Student solving problems of Computer Science and
Engineering using
a) Knowledge of mathematics Yes
b) Knowledge of science Yes
c) Knowledge of Engineering Yes
2 Student uses first principles of mathematics, natural
science, and engineering science.
a) Formulate research literature No
b) Analyze problems reaching No
c) Reach sustained conclusions Yes
3 Student is creating solutions for computer science
and engineering problems and design system
components or processes that meets the specified
needs
a) With appropriate consideration for the public health
and safety
Yes
b) With appropriate consideration for the cultural and
societal consideration
Yes
c) With appropriate consideration for the environmental
considerations
Yes
4 Student is carrying out investigations of problems
a) By using research based knowledge and research
methods including designs of experiments
Yes
b) By analyzing and interpretation of data and synthesis
of information to provide valid conclusions
Yes
5 Student is practicing computing principles with an
understanding of the limitations
a) To create appropriate techniques, resources and
modern engineering and IT tools
Yes
b) To select appropriate techniques, resources and
Yes

c) ) To select appropriate techniques, resources and
Yes
6 Student is applying is reasoning informed by
contextual knowledge
a) To assess societal issues and consequent
responsibilities relevant to professional engineering
practice
Yes
b) To assess health issues and consequent
responsibilities relevant to the professional engineering
practice
Yes
c) To assess safety issues and consequent responsibility
is relevant to the professional engineering practice
Yes
d) To assess legal issues and consequent responsibilities
relevant to the professional engineering practice
No
e) To assess cultural issues and consequent
practice
No
7 Student is recognizing the impact of the professional
engineering solution in
a) Social contexts Yes
b) In environmental contexts Yes
c) To demonstrate the knowledge if and need for the
sustainable development
Yes
8 Student is demonstrating engineeringpractices for
a) Applying ethical principles Yes
b) Practicing professional ethics Yes
c) Discharging responsibilities No
d) Following norms of engineering practice Yes
9 Student is undertaking a common goal in
multidisciplinary settings
a) Demonstrating effectiveness as an individual of team No
b) Demonstrating effectiveness as a member or leader of
team
Yes
10 Student is using effective communication
a) To cater to technical audiences Yes
b) To cater to non- technical audiences No
11 Student is demonstrating knowledge and
understanding of the Engineering and Management
principles
a) To apply these to one's own work as a member to
manage projects in multidisciplinary environments
Yes
b) To apply this to one's own work as a leader in a team
as well as to manage projects in multidisciplinary
environments.
No
12 Student is recognising the need for, and will engage Yes

in Independent and life-long learning in the broadest
context of technological change
Select and Filled the Program out Come based on course complition.
Student Name: Shiv Kumar Rai Faculty Name: Er.Pooja Gupta
Student Enrollment No: 1505232039 Student
Signature:………….. Faculty Signature:………………..
PSO1 An ability to understand the concepts of basic Electronics & Communication
Engineering and to apply them to various areas like Signal processing, VLSI,
Embedded systems, Communication Systems, Digital & Analog Devices, etc
Yes
PSO2 An ability to solve complex Electronics and Communication Engineering
problems, using latest hardware and software tools, along with analytical skills to
arrive cost effective and appropriate solutions.
Yes
PSO3 Wisdom of social and environmental awareness along with ethical responsibility
to have a successful career and to sustain passion and zeal for real-world
applications using optimal resources as an Entrepreneur
No

)
Engineering using
needs
and safety
Yes
Yes
considerations
Yes
Yes
Yes
Yes
Yes
Yes

practice
Yes
practice
Yes
Yes
No
practice
No
Yes
8 Student is demonstrating engineering practices for
team
Yes
principles
Yes
environments.
No
12 Student is recognising the need for, and will engage
Yes

Select and Filled the Program out Come based on course complition.
Student Name: Shubham Singh Faculty Name: Er.Pooja Gupta
Student Enrollment No: 1505232041 Student
Signature:………….. Faculty Signature:………………..
PSO1 An ability to understand the concepts of basic Electronics & Communication
Engineering and to apply them to various areas like Signal processing, VLSI,
Embedded systems, Communication Systems, Digital & Analog Devices, etc
Yes
PSO2 An ability to solve complex Electronics and Communication Engineering
problems, using latest hardware and software tools, along with analytical skills to
arrive cost effective and appropriate solutions.
Yes
PSO3 Wisdom of social and environmental awareness along with ethical responsibility
to have a successful career and to sustain passion and zeal for real-world
applications using optimal resources as an Entrepreneur
No

)
Engineering using
needs
and safety
Yes
Yes
considerations
Yes
Yes
Yes
Yes
Yes
Yes

practice
Yes
practice
Yes
Yes
No
practice
No
Yes
8 Student is demonstrating engineeringpractices for
team
Yes
principles
Yes
environments.
No
12 Student is recognising the need for, and will engage
Yes

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