Cute Hexapod

Abstract

I designed this hexapod robot to navigate challenging obstacles using its six legs. Smooth leg movements and balance are the primary goals of creating this hexapod during the winter holiday. I'am built with STM32 and Arduino IDE. The robot can move in all directions: forward, backward, right, left, diagonally, turn right, and turn left. In the next development phase, this robot can interact with its surrounding environment, allowing its movements to adapt to the surroundings.

The hexapod robot is a legged robot inspired by living organisms. T

his robot is often used in exploration missions to places that are difficult for humans to reach. The advantages of the hexapod robot include its ability to overcome various obstacles, flexibility, and balance in all terrains. In this holiday project, I created a hexapod robot using 3 servos for each leg, totaling 18 servos. I employed the STM32 Blackpill as the microcontroller for the robot. For power management, I utilized a 3-cell LiPo battery with a 12V output voltage. The battery's output voltage is fed into a UBEC and a stepdown module. I set the UBEC to 6V for servo power and the stepdown to 5V for the microcontroller power. To ensure stable voltage during servo operation, I used an electrolytic capacitor (elco) as a voltage stabilizer.

https://drive.google.com/file/d/1oquyRL8PbcHxG97_iWQOvWTytxOXDyZ2/view?usp=drive_link

https://drive.google.com/file/d/1M5c8Ia6_jrcMjUG3eut-wm_SeBuWo5C3/view?usp=sharing

In designing the 3D model, I utilized Onshape to estimate the size of the robot before its physical construction. Subsequently, I employed EasyEDA for creating the PCB (Printed Circuit Board) for the robot. In the programming phase, I began by formulating inverse kinematics trigonometric equations using the Arduino IDE. I then proceeded to integrate these equations for all the legs of the robot. The next step involved creating trajectories to move the robot to the desired 3D positions. I integrated these movements across all legs to enable the robot to move freely. In the subsequent stage, I programmed the robot for forward, backward, right, left, diagonal, and rotational movements.

https://drive.google.com/file/d/1BdI98EMZJvUTma_8YPsWyl4RHljzHsXQ/view?usp=sharing

https://drive.google.com/file/d/1i5PjCVWcIEo9lgN7Khbwgm9-gqXkebxX/view?usp=sharing

In the next phase of robot development, I will implement body kinematics to enhance the smoothness of the robot's movements. Additionally, I will attach pins to the tips of the robot's legs to enable it to sense its surrounding environment. I also plan to incorporate gyroscope and compass sensors to ensure smoother and more controlled robot movements. This concludes the holiday project that I've undertaken, and I hope you find it entertaining and enjoyable during your break. Stay tuned for updates on my hexapod project!

Here is my equation in this project, its inverse kinematic leg

https://drive.google.com/file/d/1JfxENVaYqTLIhRSiFlK6c4IuboFJnV45/view?usp=sharing

https://drive.google.com/file/d/1jo1mJJyGbKuM46F-zJTEsJb79NJb5m0L/view?usp=sharing