This document describes a hexapod robot project to collect environmental data wirelessly using Bluetooth. The hexapod robot design was inspired by insects and allows for stable balancing over various surfaces. It uses six legs for movement. Performance tests on the hexapod evaluated its obstacle avoidance abilities, command response times over distances, and command accuracy. The hexapod was able to avoid obstacles at 60% accuracy and be accurately controlled within 20 meters using Bluetooth. Future improvements could include adding sensors, changing to Wi-Fi control, and adding gyroscopes for more intelligent navigation.

1. BLUETOOTH CONTROLLED HEXAPOD FOR EVIRONMENTAL
DATA COLLECTION
PROJECT SUPERVISOR – DR. PRASHANT PILLAI
SAMEER SYED AHMED; ELECTRONIC TELECOMMUNICATION AND INTERNET ENGINEERING
1) HEXAPOD ROBOT
 What is a hexapod robot?
• The hexapod robot is a mechanical
vehicle that walks on six legs. It’s
design was inspired from insects
with 6 and 8 legs.
 Advantages:
a) Hexapods are better at balancing
themselves over various kinds of
surfaces better than any other kind
legged robots.
b) Hexapod have various movement
gaits which allow it to either
balance and/ or move faster.
c) Hexapod can avoid undesirable
foothold which other robot types
may not be able to avoid.
 Possible areas of implementation:
• Space exploration
• Rescue missions
• Surveillance Systems
STAGE 3 BEng PROJECT 2013 - 2014
Three specific performance test were executed on the
hexapod to check the effectiveness of the system. These
were as such:
i. Obstacle avoidance ability at various speeds;
ii. Distance related delay of commands received;
iii. Command accuracy;
i. The obstacle avoidance
test is based on the robot
avoiding 6 obstacle and
following a pre-determined
route. The test showed after
3 attempts, while working in
the automatic mode it has
an over all accuracy of 60%.
ii. The delay was higher
with increasing distance as
expected and it proved how
Bluetooth connection works
within a maximum of 15 -
20 meters radius depending
on the type of obstacle
separating the two devices.
iii. The command accuracy
test is based on the 2nd test
however, it is used to better
understand loss of data
packets over distance. The
results prove that the robot
can be accurately controlled
up to almost 20 meters.
In conclusion, the robot achieved its original aim. Additional features were included in the design such as the automatic mode and a
camera for image feed back from the robot. Nevertheless, there is a lot of space for improvement on the design. These are some of the
possible features that can be improved in future:
a) The wireless control can be changed to Wi – Fi for longer range control.
b) Additional ultrasonic sensors on the sides will increase sensitivity to obstacle.
c) Adding pyro-electric passive infrared sensor can make the robot a potential rescue robot.
d) Gyroscopic sensor will enable it to sense edges of a surface thus, making it more intelligent as a system.
5) CONCLUSION & FUTURE WORK
The Aim of the project is to build a hexapod that
can be controlled wirelessly via Bluetooth in order
to collect environmental data using various sensors.
Objectives:
1) Program Hexapod robot using C# on the visual
studio platform
2) Research relevant sensors and program them
using the Arduino IDE software
3) Research appropriate power supply unit and
Bluetooth communication devices
4) Assemble robot and sensors
5) Test and assess the robot’s performance and the
accuracy of readings
6) Evaluation of final design and product
The hexapod model used in this project is known
as the MSR – H01 (picture on left ).
2) AIM & OBJECTIVES
4) PERFORMANCE TESTS3) DESIGN AND IMPLEMENTATION
Control Panel: User Interface
The design of the system consists of two main
parts, the Control Panel (user interface) and the
Hexapod Robot.
• The system specifications show all the
components used to construct the system and
their purposes.
• The control panel has various features
including camera feed back and real time
light and temperature readings.
System Specifications
HEXAPOD CONTROL METHODS