Project Mates

Abhishek V S
Sheefa Shaik
Kaushitha K
Roopashree H

Under the Guidance of

Mr.Phanindara Reddy K.

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 Introduction.
 Literature Survey.

 Hardware description.

 Methodology.

 Circuit diagram.

 Hardware Specification.

 Software.

 Application.

 Conclusion.

 References.
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Purpose of the project - Six legged walking and flying robot.

 Performance
Walking in forward, backward direction

Due to the stability & wide flexibility moves in irregular

surfaces

Hexapod can be very useful in the zones where the natural

disasters and also in the after effects of the war scenario and also
for military applications.
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“A Performance oriented Novel Design of
Hexapod Robot” IEEE/ASME Transactions on Mechatronics, VOL.
22, NO, 3 JUNE 2017

Radially distributed legs around the body

The legs can redistribute themselves and rearrange the
position among themselves
Investigate performance of the robot, Kinematic reachable
workspace is analyzed.
Analysis of fault tolerance and stability

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“Design of Six Legged Spider Robot and Evolving
Walking Algorithms”, International Journal of Machine Learning and
Computing, Vol. 5, No. 2, April 2015

Search and rescue operations

Different walking algorithms are designed for this purpose and
tested their performance.
Accident, battery life is largely scaled.
Control of robot is provided via communications port on
computer.
Functional algorithms are built for flexible motion against
different conditions such as rough terrain, pit.

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microcontroller board based on the ATmega328P
Consists of 14 digital input/output pins (of which 6 can
be used as PWM outputs), 6 analog inputs

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Rotary/linear actuator - control of angular/linear
position, velocity and acceleration.
Moves the legs.
The servo motor consists of three pins which are GND, VCC
and Pulse width modulation signal.

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Voltage - 6.8-6.9V
Current – 1.6 amps

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Servomotor
•18 servomotors are used in this project, three servomotors
for each leg.

•18 servomotors are connected to Arduino pins.

•Digital pins from 0 to 13 & Analog pins from A0 to A4 are

connected to servo motors.

•All the servos are initialized.

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Arduino 1.0.5-r2

PIN CONFIGURATION

LEG PIN ELBOW PIN SHOULDER

PIN
1 2 3
4 5 6
7 8 9
10 11 12
13 A0 A1
A2 A3 A4 10

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Servomotor Specification
Weight : 9g
Size : 22mm x 11.5mm x 27 mm
Operating Speed (4.8V no load): 0.12sec/60 degrees
Operating Voltage:3.0-7.2 Volts

Arduino uno
Servos power supply: USB cable or power it with a AC-
to-DC adapter or battery to get started
No of pins: Analog-6,Digital-14

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Crossing potentially dangerous path.

Search and rescue operations.

Step over obstacles.

Use one or more legs as hands to perform dexterous tasks

Perform automated tasks

Using for spying and other military applications

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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

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Improve the performance

Energy consumption

Movement and speed of the robot

Stability

Rotational capability

Multitasking
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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.

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