An-Najah National University

Faculty of Engineering & Information Technology

Design, Implementation & Control of Autonomous

Hexapod Robot for Search and Rescue

by

Ali Naser & Jihad Hajaj

Under the supervision of

Dr. Omar Tamimi

Jun , 2023

This dissertation is submitted to the Department of Computer Engineering in partial

fulfillment of the requirements for Bachelor Degree in Computer Engineering.
Acknowledgements
We would like to express our gratitude to our friends and family for their support and insightful comments
on the study.
Likewise, we would like to thank Dr. Omar Tamimi, our supervisor, for supporting this work. His encour-
agement and guidance helped us get through each stage of the creation of this project.

1
Disclaimer
This report was written by Ali Naser and Jihad Hajaj at Computer Engineering Department, Faculty
of Engineering, An-Najah National University. It has not been altered or corrected, other than editorial
corrections, as a result of assessment and it may contain language as well as content errors. The views
expressed in it together with any outcomes and recommendations are solely those of the student(s). An-
Najah National University accepts no responsibility or liability for the consequences of this report being
used for a purpose other than the purpose for which it was commissioned.

2
Abstract
The hexapod robot is an autonomous robotic platform that walks on six legs. The robot is able to provide
a great deal of flexibility and stability thanks to the gait algorithms that can be implemented to drive the
actuators on each leg. The legs of the hexapod gives it a significant advantage over the wheeled robot,
allowing it to traverse through rough terrain without becoming stuck.

The goal of this bachelor’s project is to research, construct, and program a hexapod robot, the robot non-
electronic components can be 3D printed from plastic or cut with a laser from sheet metal.

This project will demonstrate the issues encountered as well as the programming necessary to make it
walk will .

3
Contents
1 Introduction 6
1.1 Problem . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
1.2 Objectives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
1.3 Importance of the work . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
1.4 Organization of the report . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8

2 Constraints and earlier work 9

2.1 Constraints . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
2.2 Earlier Work . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
2.2.1 Micro-Controllers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
2.2.2 Micro-Processor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
2.2.3 CPU & Micro-Controllers Laps . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
2.2.4 Networks and Wireless . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
2.2.5 Critical Thinking and Research Skills . . . . . . . . . . . . . . . . . . . . . . . . 10
2.2.6 self learning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10

3 Literature review 11
3.1 Design of a Hexapod Robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
3.2 Robot kinematics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
3.2.1 The tripod gait principle of hexapod robots . . . . . . . . . . . . . . . . . . . . . 13
3.3 Legged vs wheeled robots . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14

4 Methodology 15
4.1 Hardware Components . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
4.2 Software . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
4.2.1 Raspberry Pi programming . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
4.2.2 Mobile Application . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
4.3 Robot Assembly . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21

5 Results & Discussion 22

5.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
5.2 Results Presentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
5.2.1 Construction Results . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
5.2.2 Programming Results . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
5.3 Discussion of Results . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
5.3.1 Successful Construction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
5.3.2 Programming Challenges . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
5.4 Comparison with Previous Studies . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23

6 Future Work 24

7 Conclusions and Recommendation 25

7.1 Conclusion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
7.2 Recommendation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26

8 References 27

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List of Figures
1 hexapod robot vs insect . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
2 one leg structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
3 full 3d structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
4 Tripod gait of hexapod robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
5 raspberry zero w . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
6 sg90 Stepper Motor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
7 Stepper Motor inside structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
8 PCA9685 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
9 Lithium Batteries . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
10 XL4015 Buck converter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
11 MP2315 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
12 mobile application 1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
13 mobile application 2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
14 3D parts view . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21

5
1 Introduction
1.1 Problem
The development of hexapod robots was motivated by several challenges and problems in robotics that
researchers sought to address. Some of the key factors that led to the invention of hexapod robots include:

• Locomotion in complex environments:

Traditional wheeled or tracked robots often face difficulties when navigating through rough or un-
even terrains, especially in natural or disaster-stricken environments. Hexapod robots, inspired by
the versatile locomotion of insects and spiders, offer a solution to this problem by using multiple
legs to maintain stability and traverse various surfaces effectively.

• Stability and adaptability:

Hexapod robots are designed to have a high degree of stability. The multiple legs and joints allow
them to distribute their weight and adjust their posture, enabling them to remain balanced even on
uneven ground or in the presence of external disturbances. This stability makes them suitable for
applications such as exploration, where maintaining balance is crucial.

• Obstacle negotiation:
Obstacles pose a significant challenge for many robots. Hexapod robots, with their leg configura-
tions and flexibility, excel at traversing obstacles such as steps, gaps, or rough terrain. Their ability
to step over or around obstacles provides an advantage over robots with fewer legs or less adaptable
locomotion mechanisms.

• Biomechanics and locomotion research:

Hexapod robots have been developed as a means to study the biomechanics and locomotion princi-
ples of insects and other legged creatures. By replicating the leg structures and movement patterns
found in nature, researchers can gain insights into the mechanics of locomotion and apply those
principles to improve robot design and performance.

• Versatile applications:
The versatility of hexapod robots enables their deployment in a wide range of applications. They
can be used for tasks such as search and rescue operations in disaster scenarios, surveillance and
inspection in hazardous environments, agricultural monitoring, entertainment and performance, and
even scientific research in fields like biology and robotics.

In summary, the invention of hexapod robots was driven by the need for robots that could navigate complex
terrains, negotiate obstacles, maintain stability, and provide a platform for studying locomotion principles.
These robots offer a solution to the challenges faced by traditional wheeled or tracked robots and have
found applications in various fields.

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1.2 Objectives
The aim of this project is to build a hexapod robot using available computing power, sensors and actuators
and provide it with certain amount of autonomy. More specifically the robot should be given the funda-
mental building blocks to roam around certain predefined environments on its own without putting itself
into harm’s way.

In other words, this project objectives include the following:

• Obtain a fully operational hexapod robot.

• Get acquainted with embedded programming.

• Study six-legged locomotion.

• Add sensor evaluation to the mix.

1.3 Importance of the work

Researching hexapod robots in the field of search and rescue holds immense importance due to their unique
capabilities and potential impact. Firstly, hexapod robots’ versatile locomotion allows them to navigate
complex and hazardous terrains, including rubble, debris, and rough surfaces, where traditional wheeled
or tracked robots struggle. This ability is crucial in search and rescue operations, enabling these robots to
access hard-to-reach areas, locate survivors, and provide vital assistance during emergencies.

Secondly, hexapod robots’ stability and adaptability enhance their effectiveness in search and rescue sce-
narios. With their multiple legs and balanced weight distribution, they can traverse unstable or uneven
surfaces without compromising their stability, making them more resilient in challenging environments.
Additionally, their maneuverability enables them to negotiate obstacles, such as debris piles or collapsed
structures, providing greater access to potential victims.

By researching hexapod robots for search and rescue applications, scientists and engineers can further
improve their capabilities, optimize their control systems, enhance their sensory perception, and develop
more efficient and robust designs. This research contributes to the advancement of robotic technologies in
disaster response, potentially saving lives, reducing risks for human rescuers, and increasing the overall
efficiency and effectiveness of search and rescue operations.

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1.4 Organization of the report
The following chapter (Constraints and prior work) will concentrate on the primary issues that we ran
into while working on this project and will highlight earlier work that assisted in the development of this
project.

The (Literature Review) chapter follows, introducing and Describes some of the related work and demon-
strates how it varies from this work.

Then, in the fourth chapter (Methodology), we will go into more depth about how we built this project.
The methods utilized to gather the required data, the technology we employed, the process of building this
robot, software tools, and hardware equipment.

The chapter that follows is (Future work), which includes the ideas that we aspire to add to our project in
future.

The next chapter is (Conclusion and Recommendations) which will summarise the ideas of projects and
will also contain some recommendations related to our work.
The last chapter is (References).

8
2 Constraints and earlier work
2.1 Constraints
• Limited time:
This project was finished under the strain of exams, course projects, and work.

• 3D-printed parts issues:

Handling 3D printed parts can be challenging, especially when dealing with poor print quality.
It often requires extra effort and time-consuming post-processing work like sanding, smoothing,
and filling to address rough surfaces and imperfections caused by the limitations of the printer.
As someone who has experienced these difficulties firsthand, We know the frustration and labor-
intensive nature of manually refining the printed parts to achieve the desired level of finish and
aesthetics, making the overall production process more complex.

• The constrains of occupation:

Traveling between cities in Palestine can be challenging due to various factors. The presence of
Israeli military checkpoints, roadblocks, and restrictions on movement imposed by the Israeli gov-
ernment can significantly impede the freedom of movement for Palestinians. These checkpoints
often lead to delays, long queues, and unpredictable travel times, impacting daily life, and as stu-
dents who had to travel between two cities to get to the collage that affected us negatively.[1]

Regarding online shopping, there was difficulties in purchasing the needed parts for our project,
particularly electronics.

Palestinians encounter obstacles such as high import taxes, customs fees, and lengthy clearance
processes. Additionally, limited access to international markets and shipping restrictions can further
complicate online shopping experiences for Palestinians, and because of that we had to keep looking
for other electronic parts for this project that we could not buy online which caused a lot of delay
and difficulties.[2]

9
2.2 Earlier Work
2.2.1 Micro-Controllers
helped with the micro-controller component and how to use it to control the physical components.

2.2.2 Micro-Processor
gave a background on the current and voltage handling of ICs and modules.

2.2.3 CPU & Micro-Controllers Laps

helped to the wiring, welding, and debugging of the hardware components.

2.2.4 Networks and Wireless

used the knowledge gained during theses courses to establish the connection between the mobile applica-
tion and the raspberry pi wirelessly.

2.2.5 Critical Thinking and Research Skills

One of the few non-technical classes that taught us how to conduct research and prepare a report.

2.2.6 self learning

e also went through a considerable amount of self- learning, picking up new languages like python and
Kotlin that we needed.

10
3 Literature review
3.1 Design of a Hexapod Robot
A six-legged walking robot is referred to as a hexapod by definition. Although there are many distinct
types of hexapod robots, most of them are biologically inspired by hexapod insects in terms of their
mechanics and movements.

Figure 1: hexapod robot vs insect

We struggled to construct our own design from scratch, and were drawn to the interesting hexapod designs
we found online, so we decided to take a different approach. We decided to find publicly downloadable
hexapod designs since we appreciate the resources at our disposal such as [3]. With a fresh outlook, we
welcomed the chance to take inspiration from the work of others and modify their designs to suit our
requirements.

After thorough consideration and assessment, we discovered a design that fit our objective. This decision
allowed us to concentrate on the technical details of using 3D printing and post-processing methods to
bring the hexapod to life. In the end, this experience demonstrated the value of adaptability and flexibility,
enabling us to change the existing concept into a concrete and satisfying reality.

11
One of the 6 identical legs of our chosen design:

Figure 2: one leg structure

the full mechanical structure after assembly:

Figure 3: full 3d structure

12
3.2 Robot kinematics
3.2.1 The tripod gait principle of hexapod robots
Hexapod insects, such as cockroaches, ants, and others, do not walk with their feet moving simultaneously.
Most of the time, three pairs of legs form two groups. Insects advance using two alternate tripods as a
result. One group is made up of the right front leg, right rear leg, and left middle leg. The other group is
made up of the right front leg, right rear leg, and right middle leg. The other tripod remains on the ground
to support the body while the feet of one tripod synchronously raise.

Additionally, the middle foot serves as a point of support, the muscles in the front leg’s tibia produce
pulling force, and the muscles in the back leg’s tibia produce pushing force. The center of gravity is
therefore on the supporting tripod’s three legs, which causes the body to slightly spin around the middle
foot. The opposite group then does the identical procedures, and two tripods each move in turn. Because
the center of gravity is constantly on the tripod when an insect walks in the tripod gait, it can stop and start
at any time. The path taken when walking follows a curve rather than a straight line.

Figure 4: Tripod gait of hexapod robot

In Figure 2, legs 2 on the right, 4 on the left, and 6 on the left all rise together at the start of a walk to get
ready to move. The remaining three legs, namely legs 1, 3, and 5, continue to be in a supportive position.
They support the body so that its center of gravity is on the tripod-like structure made up of the three legs.
In order for the robot to stand on the ground steadily, see Fig. 2(a). The hexapod robot’s body is supported

13
by the supporting legs 1, 3, and 5 as they move forward (see Fig. 2(b)), and the robot body is propelled by
a DC servo-actuator to walk a half step at the same time (see Fig. 2(c)).

Swing legs 2, 4, and 6 immediately put down and switch to the supporting state when the robot moves into
the proper position. As a result, the tripod’s center of gravity is where Legs 2, 4, and 6 meet. In order to
move forward, the old supporting legs 1, 3, and 5 have been lifted (see Fig. 2(d)).

The supporting legs 2, 4, and 6 support the body when the swing legs are in motion (see Fig. 1(e)), while
the robot continues to move by taking a half-step (see Fig. 1(f)). A step is made up entirely of s0 and
s1. If the robot walks at a constant speed, s0 is created in the beginning, s1 appears during the movement,
and so equals s. The hexapod robot moves forward continuously while undergoing a continuous cycle of
tripod gait alteration.[4]

3.3 Legged vs wheeled robots

Extreme terrain restricts wheeled robots’ ability to move. Legged robots, on the other hand, may be able
to get around this by changing their gaits. Hexapods have one benefit over bipeds or quadrupeds: static
stability when moving. The more legs you have, the more stable you are and the more gait patterns you
can choose from. The biggest change is going from four to six legs. The improvement becomes noticeably
smaller and the hardware cost rises for robots with more than six legs[5].

14
4 Methodology
4.1 Hardware Components
This section discusses the design, tools, and basis of the hexapod robot in order to illustrate the full
development process.

1. Raspberry Pi:

We chose the Raspberry Pi Zero W as the control system for our hexapod project due to its ability to
effectively manage the 16 actuators with the assistance of two PCA9685 motor drivers. The Rasp-
berry Pi Zero W offers a compact and affordable solution, providing sufficient processing power for
the intricate coordination and control tasks involved in the hexapod’s movements. Through its GPIO
(General Purpose Input/Output) pins and compatibility with PCA9685 motor drivers, the Raspberry
Pi Zero W can accurately transmit control signals to the motor drivers, enabling precise manipula-
tion of the actuators’ position, speed, and synchronization. Furthermore, the Raspberry Pi Zero W’s
built-in wireless connectivity facilitates convenient remote control and communication, enhancing
the overall versatility and user-friendliness of our hexapod project[6].

Figure 5: raspberry zero w

2. Stepper Motors:

We chose to use 16 SG90 stepper motors as actuators for our hexapod robot, primarily due to their
remarkable precision and synchronization capabilities. The SG90 stepper motors afford us the abil-
ity to achieve accurate control over the position and motion of each leg, resulting in smooth and
coordinated movements. With their step-wise rotation, these motors enable us to achieve the de-
sired level of leg positioning accuracy, making them an ideal choice for ensuring the stability and
precision required for the hexapod’s locomotion[7].

For this project the servo motors have range of 180 degrees.

15
 Figure 6: sg90 Stepper Motor

Figure 7: Stepper Motor inside structure

3. PCA9685:

We incorporated two PCA9685 motor drivers to establish a connection with the Raspberry Pi for
several reasons. Firstly, employing two PCA9685 motor drivers allows us to conveniently and ef-
ficiently control all 16 actuators in our hexapod robot simultaneously. Each motor driver has the
capacity to handle up to 16 servo or stepper motors, enabling us to manage the entire set of actuators
effectively.

Secondly, by utilizing the PCA9685 motor drivers, we relieve the Raspberry Pi of the task of gener-
ating precise control signals. These motor drivers possess built-in PWM (Pulse Width Modulation)
functionality, streamlining the control of servo and stepper motors. By offloading this responsibil-
ity, the Raspberry Pi can focus on other critical processing tasks while ensuring accurate and stable
actuator control.

Furthermore, the PCA9685 motor drivers offer the advantage of individual channel control, empow-
ering us to independently adjust the speed, position, and synchronization of each actuator. This level
of control is crucial for achieving the desired leg movements and coordination in our hexapod robot.
Through the integration of two PCA9685 motor drivers with the Raspberry Pi, we achieve efficient
management and precise control over all 16 actuators, facilitating smooth and synchronized motion
in our hexapod robot design[8].

16
 Figure 8: PCA9685

4. Lithium Batteries:

We decided to utilize rechargeable Lithium batteries as the power source for our hexapod robot,
which incorporates 16 servos. There are several reasons behind this choice. Firstly, Lithium batter-
ies offer a high energy density, enabling extended operational periods without the need for frequent
recharging. This is particularly important to sustain the hexapod’s power requirements during pro-
longed usage without frequent battery replacements.
Secondly, rechargeable Lithium batteries provide a consistent and reliable power supply. They
maintain stable voltage levels throughout their discharge cycle, ensuring a reliable and steady perfor-
mance from the servos. This stability is crucial for maintaining precise and synchronized movements
of the hexapod’s legs.
Moreover, Lithium batteries are compact and lightweight, making them an ideal choice for mobile
robotic applications like our hexapod[9].

Figure 9: Lithium Batteries

5. XL4015 Buck converter:

We integrated the XL4015 voltage regulator into our hexapod robot to decrease the voltage from the
Lithium batteries while increasing the current. By utilizing the XL4015, we achieve efficient and
precise voltage regulation, resulting in a stable power supply. The regulator allows us to flexibly
adjust the output voltage to meet the specific requirements of different components. Furthermore,
its high efficiency minimizes power loss and extends the battery life of our hexapod[10].

17
 Figure 10: XL4015 Buck converter

6. MP2315:

We chose to incorporate the MP2315 step-down converter between the power source and the Rasp-
berry Pi for several reasons. Firstly, the MP2315 efficiently converts the higher voltage from the
power source to a suitable level for the Raspberry Pi, ensuring a stable and regulated voltage supply.
This protects the Raspberry Pi from potential damage caused by voltage fluctuations.

Secondly, the MP2315 offers built-in protection features, including over-current and over-temperature
protection, safeguarding the Raspberry Pi from power-related issues. This enhances the reliability
and lifespan of the Raspberry Pi within our hexapod robot.

Furthermore, the MP2315 step-down converter is compact and lightweight, making it easy to inte-
grate into the limited space of our robot’s design. Its high efficiency minimizes power loss during
voltage conversion, maximizing energy efficiency[11].

Figure 11: MP2315

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4.2 Software
4.2.1 Raspberry Pi programming
First, we installed the operating system on the Raspberry Pi, following the instructions provided by the
Raspberry Pi Foundation. Once that was done, we set up the programming environment by installing the
necessary software and libraries, for Python.

To control the hexapod’s movements, we researched different algorithms. We looked into ways to make
it walk, plan its motions, and use sensors. With that knowledge, we wrote the code for the hexapod’s
controller using Python[12].

We tested the controller thoroughly to make sure it worked well. If needed, we made adjustments and
improvements to get the hexapod moving just the way we wanted. Then, we connected the controller to
the hexapod’s hardware, like the motors and sensors, to make it all work together.

4.2.2 Mobile Application

We utilized Kotlin[13], a user-friendly programming language for Android development, to create an
Android application for controlling the hexapod robot. Kotlin’s simplicity and concise syntax made it an
excellent choice for our project.

Using Kotlin, we developed an intuitive Android application that enabled users to control the hexapod via
Wi-Fi and Bluetooth connections, while also establishing a connection with the Raspberry Pi. For Wi-Fi
control, we implemented the necessary code to establish a connection between the Android device and the
Raspberry Pi, allowing users to remotely send commands and control the hexapod’s movements.

Additionally, we integrated Bluetooth functionality into the Android application, enabling users to pair
their Android devices with the hexapod via Bluetooth. This provided an alternative control option for lo-
calized connections, while maintaining the communication between the Android device and the Raspberry
Pi.

By leveraging Kotlin and incorporating both Wi-Fi and Bluetooth capabilities in the Android application,
we provided users with a versatile control solution for the hexapod robot. They could choose between
Wi-Fi and Bluetooth connectivity options, while ensuring seamless communication with the Raspberry Pi
for efficient control of the hexapod’s actions.

19
Figure 12: mobile application 1

Figure 13: mobile application 2

20
4.3 Robot Assembly

Figure 14: 3D parts view

21
5 Results & Discussion
5.1 Introduction
This chapter presents the results and discusses the process of building and programming a hexapod robot.
The goal of the project was to create a useful hexapod robot with autonomous movement and obstacle
avoidance capabilities. The important conclusions and difficulties encountered during the study are out-
lined in the following sections.

5.2 Results Presentation

5.2.1 Construction Results
The hexapod robot was successfully built using 3D-printed components. The mechanical assembly of the
robot’s body, legs, and joints was completed according to the design specifications, but this step took so
mush effort and hard work because the 3D-printed parts came out not as intended, so that as mentioned
in the constraints chapter before we had to file every single piece (82) pieces in order to make the assem-
bled robot move smoothly. we also used a special lubricating substance for the joints. Additionally, the
integration of servo motors and motor drivers allowed for controlled leg movements and coordination.

5.2.2 Programming Results

The hexapod robot’s programming required the creation of algorithms for autonomous navigation and
locomotion. Through extensive testing and iterations, the robot proved its capacity to walk with a tripod
gait pattern and avoid obstacles while being remotely controlled by an android app through WiFi. This
was made possible by the raspberry pi’s built-in WiFi module (ESP32).

22
5.3 Discussion of Results
5.3.1 Successful Construction
The construction phase yielded positive results, as the hexapod robot was built according to the design
plan. The use of quality materials ensured stability and durability, allowing for effective leg movements
and overall functionality. However, challenges were encountered during the 3D printing process, including
the need for additional work due to poor printer quality. These challenges were overcome through careful
post-processing techniques, such as sanding and adjustments to ensure proper fit and functionality.

5.3.2 Programming Challenges

The programming phase presented several challenges, particularly in the implementation of complex lo-
comotion algorithms and obstacle avoidance behaviors. Debugging and fine-tuning the code was a time-
consuming process, requiring extensive troubleshooting to address unexpected behavior and optimize the
robot’s movements. Additionally, limitations in computational power and memory on the micro controller
posed constraints on the complexity of the implemented algorithms.

5.4 Comparison with Previous Studies

The results of this study align with previous research on hexapod robots, demonstrating successful con-
struction and programming of a functional robot. However, the encountered challenges in 3D printing
and programming highlight the importance of careful design considerations and the need for strong error-
handling mechanisms.

23
6 Future Work
In terms of future developments for our hexapod robot, we have outlined the following areas for improve-
ment:

1. Sensor Integration: We intend to integrate various sensors to improve the robot’s perception and
interaction with its surroundings. These sensors may include proximity sensors for detecting and
avoiding obstacles, gyroscopes for improved stability, and accelerometers for measuring motion and
orientation. By incorporating sensors, we aim to enhance the robot’s awareness and responsiveness.

2. Camera Integration: The addition of a camera to the hexapod robot presents opportunities for vision-
based applications. By equipping the robot with a camera, we can enable functions such as capturing
images, streaming live video, and implementing computer vision algorithms for tasks like object
recognition or visual inspection.

3. Algorithm Expansion: Our plan is to enhance the robot’s capabilities by incorporating more al-
gorithms. For instance, we aim to integrate artificial intelligence techniques to enable the robot
to follow lines autonomously. This will allow it to navigate designated paths with precision and
efficiency.

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7 Conclusions and Recommendation
7.1 Conclusion
In conclusion, the focus of our graduation project was to design and develop a hexapod controlled by
a mobile application using Raspberry Pi and WiFi connectivity. Through our endeavor, we achieved
significant milestones and notable outcomes.

One of the key features of our project was the integration of 18 servo motors into the hexapod’s design.
These motors played a crucial role in enabling precise and coordinated movements, allowing the hexapod
to navigate and perform various tasks with agility and stability.

Additionally, we successfully established a wireless connection between the hexapod and a mobile appli-
cation. Leveraging the capabilities of Raspberry Pi and WiFi technology, we created an intuitive interface
that provided users with convenient control over the hexapod’s movements. This allowed for real-time
interaction and remote operation, enhancing the overall user experience and expanding the potential ap-
plications of the hexapod.

Throughout the development process, we encountered and overcame several challenges, including design-
ing an efficient servo motor control system, ensuring seamless communication between the Raspberry Pi
and the mobile application, and optimizing the overall performance and stability of the hexapod.

By overcoming these challenges, we were able to achieve impressive outcomes. Our hexapod demon-
strated smooth and precise locomotion, capable of walking, turning, and even performing complex ma-
neuvers. The mobile application provided a user-friendly interface with intuitive controls, enabling users
to easily command the hexapod’s actions.

In conclusion, our graduation project successfully showcased the development of a hexapod controlled by
a mobile application using Raspberry Pi and WiFi connectivity. Through our efforts, we achieved a func-
tional and versatile hexapod with impressive locomotion capabilities. This project not only demonstrates
our technical skills and problem-solving abilities but also holds great potential for further innovation in
the field of robotics.

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7.2 Recommendation
Research and Planning: Begin by researching different hexapod designs, mechanisms, and control meth-
ods. Understand the components required, such as servo motors, microcontrollers, and power systems.
Plan out your project and set achievable goals.

Component Selection and Assembly: Select high-quality components based on your budget and project
requirements. Assemble the hexapod’s mechanical structure, ensuring precise alignment and robust con-
struction. Take your time to ensure a solid foundation for your project.

Electronics and Wiring: Connect the servo motors to the microcontroller, ensuring proper wiring and
signal connections. Utilize a power supply that can adequately drive all the servos. Double-check the
connections to avoid any electrical issues.

Programming and Control: Develop the control logic and algorithms to command the hexapod’s move-
ments. Utilize a programming language compatible with your chosen microcontroller. Implement control
features such as walking gaits, turning, and other desired actions.
Testing and Iteration: Gradually test each component and functionality of your hexapod. Identify and
address any issues or errors that arise during testing. Refine your design and programming as necessary to
improve performance and stability.

Documentation and Sharing: Document your entire build process, including the design, code, and any
modifications made along the way. Share your progress and experiences with the robotics community
through online forums, social media, or a personal blog. By sharing your journey, you contribute to the
collective knowledge and inspire others.

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