Design of a Stepping Hexapod Bio-Inspired Robot

This paper introduces a hexapod robotic platform designed for versatile locomotion and modularity. Characterized by its distinctive six-legged configuration, the hexapod achieves an optimal balance between stability and speed. The primary objective was to establish a comprehensive, cost-effective, and highly modular platform serving as a foundational base for future development. To provide context, the paper begins by offering an overview of the current state of the industry, highlighting exemplary legged robots from various categories. The development phases of the platform are systematically presented across three chapters, each focusing on the significant contributions within its respective domain. Beginning with the motivation behind the selection of specific components and the foundational principles that underpin the platform design continuing with the electrical diagram and the associated PCB for the electrical part of the platform and ending with kinematics principles and the control structure used to remotely operate the platform. Subsequently the paper delves into the kinematic principles underlying the hexapod's movement, marking the core concepts that govern its locomotion. Finally, the inverse kinematics equations are introduced, laying the groundwork for future advancements and refinements in the platform's capabilities.