the servo motor by controlling the PWM signal and also control the speed and position of robot via Bluetooth or IOT. Hexapod robot has static as well as dynamic stability which make it more stable. Technology used: Servomotor, Arduino IDE, HC-05 Bluetooth, Arduino App

1. 1
HEXAPOD ROBOT
PROJECT PRESENTATION
ELECTRONICS ENGINEERING DEPARTMENT
GUIDED BY: PRESENTED BY
Er. POOJA GUPTA GROUP NO. 13:
SHIV KUMAR RAI (1505232039)
SHUBHAM SINGH (1505232041)
SHWETA YADAV (1505232043)

2. CONTENTS
2
 OBJECTIVE
 INTRODUCTION
 SCHEMATIC OF HEXAPOD
 LEG DESIGN
 COMPONENTS REQUIRED
 BLOCK DIAGRAM
 WORKING
 ARDUINO UNO
 SERVOMOTOR
 SERVOMOTOR WORKING AND PROGRAMMING
 CONCLUSION
 MAIN PROGRAM
 OPERATION VIDEOS
 REFERENCES

3. OBJECTIVE
3
 To create a base hexapod platform which can traverse on rough
terrain
 Purpose of the project - Six legged walking robot
 The hexapod robot is to be controlled by Bluetooth
 Hexapod can be very useful in the zones of natural disasters and
also in the after effects of the war scenario

4. SCHEMATIC OF A HEXAPOD
4

5. LEG DESIGN
5
 Each leg is in the shape as shown in fig
 Each pair of legs can rotate around the
point of the axis of servo
 Since the leg is attached via an arm to
the servo, the leg will move in a curve
 We will use this concept, to achieve
motion of legs in different orientations -
Sweep and Lift
 Forward and Rear pair of legs – Sweep
Motion
 Middle pair of legs – Lift Motion

6. COMPONENTS REQUIRED
6
 Controller : AVR(ATMEGA 328) 8 bit controller
 Memory type : Control by using EEPROM in CPU
 Servo Motors
 Bluetooth module
 External Power supply

7. 7
BLOCK DIAGRAM

8. WORKING
8
 The system for controlling the robot relies on the interaction
of three main elements
o Operator
o Physical robot
o Software
 A mobile pairs with the Bluetooth
 Receives the Commands and sends them to the master
processor
 The processor contains all the necessary algorithms such as
Direct Servo control

9. Arduino UNO
9
 Arduino is an open source electronic platform
 It is a combination of microcontroller based Arduino board,
Arduino programming language and Arduino software for
development and compilation
 The Arduino Uno is a microcontroller board based on the
ATmega328
 It has 14 digital input/output pins (of which 6 can be used
as PWM outputs), 6 analog inputs, a 16 MHz crystal
oscillator, a USB connection, a power jack, and a reset
button

10. Arduino UNO Specifications
10
 Microcontroller - ATmega328
 Operating Voltage - 5V
 Digital I/O Pins -14 (of which 6 provide PWM output)
 Analog Input Pins - 6
 DC Current per I/O Pin - 40 mA
 DC Current for 3.3V Pin - 50 mA
 Flash Memory - 32 KB
 SRAM - 2 KB
 EEPROM -1 KB
 Clock Speed -16 MHz

11. ARDUINO UNO BOARD
11

12. ARDUINO PROGRAMMING
12
 Code for Arduino are known as Sketches
 Written in C++
 Every sketch needs two void type functions :
• Setup()
• Loop()
 Void function does not return a value

13. MOTORS
13

14. SERVOMOTOR
14
 A servomotor is a rotary actuator that allows for precise control of
angular position
 Follows a closed-loop servomechanism that uses position feedback
to control its initial motion and final position

15. PWM SIGNAL
15
 PWM is a modulation technique used to encode
message into pulse form
 The width of the pulses vary so that average of the
pulses over different time interval varies like an analog
signal
 This technique used for digital device to communicate
with device that uses analog input

16. PWM for SERVO
16

17. SERVOMOTOR BLOCK DIAGRAM
17

18. DRIVING SERVO WITH ARDUINO
18

19. BLUETOOTH TOPOLOGY
19

20. HC-05 BLUETOOTH MODULE
20

21. HC-05 PIN STRUCTURE
21

22. PROGRAMMING LOGIC
22
 All of the motions are achieved by a series of steps
 Each step is basically a movement of one or more of the servomotors to a
certain angle
 Convert crawling strategy into servomotor angles at each step
 Write program to move servomotors to those angles
 Determine the angles which servomotors should move to in each step
 All servos are at 90 degrees to begin with(Zero Setting – initial
condition)
 Delay commands needed

23. FORWARD MOTION
23

24. BACKWARD MOTION
24

25. APPLICATION
25
 Exploration of remote locations and hostile environments
( warzone, planets, nuclear power station)
 Crossing potentially dangerous path
 Search and rescue operations
 Step over obstacles
 Perform automated tasks
 Entertainment

26. CONCLUSION
26
 Emphasis the need for developing the legged robot rather
than the wheeled robot
 The model which is based on the structure of six legged
insect movements
 Designed for - after effects of the war, disaster zones with
obstacle avoidance, surveillance
 Improved stability, performance

27. PROGRAM
27
#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);
}

28. Continued
28
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);
}

29. Continued
29
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(){
// to 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);
}

30. Continued
30
void Stop(){
lift.write(90);
delay(100);
front.write(90);
delay(100);
rear.write(90);
delay(100);
}
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;
}
}

31. TESTING VIDEO
31

32. HEXAPOD WORKING VIDEO
32

33. REFERENCE
33
1) Guoliang Zhong, member, Long Chen and Hua Deng, “A performance
oriented novel design of hexapod robot”, IEEE/ASME Transactions on
Mechatronics, VOL. 22, NO, 3 JUNE 2017
2) Z.Song, H. Ren, J. Zang, and S.S.Ge, “Kinematic analysis and motion control
of wheeled mobile robots in cylindrical workspaces”, IEEE Trans.Autom. Sci.
Eng., vol. 13,no. 2, pp. 1207-1214, Apr. 2016.
3) Tolga Karakurt, Akif Durdu, and Nihat Yilmaz, “Design of Six Legged Spider
Robot and Evolving Walking Algorithms”, International Journal of Machine
Learning and Computing, Vol. 5, No. 2, April 2015
4) M. Z. A. Rashid, M. S. M. Aras, A. A. Radzak, A. M. Kassim and A. Jamali,
“Development of Hexapod Robot with Maneuverable Wheel”, International
Journal of Advanced Science and Technology, Vol. 49. Dec 2012.
5) https://www.skyfilabs.com/online-courses/hexapod-arduino?v1

34. 34
THANK YOU