This hexapod robot tutorial series will show you how to build a cheap, basic and simple hexapod robot. Similar approach can be used to build a quadruped robot, but I might also write an tutorial on that too.
Hexapod robots are robots that walk with 6 legs. They are easier to balance than 4-legged or 2-legged robots, and therefore they are suitable for robotic beginners.
I will first give you a brief structure of this tutorial series, and then I will try to explain how a hexapod robot works later in this article.
The Goal Of This Hexapod Robot Tutorial
Our goal is to build a hexapod robot that can walk, able to tilt the body toward all horizontal directions and so on. We will also give the robot a little intelligence to do simple stuff such as obstacle avoidance.
While the price of the hexapod robot kits are high ($200+ for only the frame excluding servos and electronics), we can DIY one for less than $10 with polystyrene plastic sheet.
The Structure of This Tutorial
This is supposed to be very simple and quick tutorials, so we will not get too crazy about theory and maths. Once you have built the robot, and you want to improve it further then you should.
What Do You Need
In this article we will discuss the basic components of building a
- Difference in the servos that hexapod robot uses and what to buy
- How to choose battery for hexapod robots?
- What microprocessor should I use for hexapod robots?
- Hexapod robot building material
The tools that I used to build this robot
Making the Body and Legs, and Assembling
I will show you how to make the body and legs using cheap robot building materials
First Move! And Basic Movement Analysis
A simple tutorial on how to make the hexapod robot move.
Simple AI – Bring Hexapod Robots To Life
You will be shown how we can add simple AI to make the hexapod robot more lively and exciting
More Advanced Hexapod Robot Articles
Here I gather a list of articles that are interesting and useful to spice up your hexapod robots.
How Does Hexapod Robot Work
Hexapod robots are used in rescue missions where might not be suitable for human to reach and work at, for example fire fighting. Comparing to wheeled robot, hexapod robots are better at uneven terrains and soft ground. Therefore many researches have been carried out for optimized terrain adaption ability in recent years.
Hexapod robot are also sometimes called spider robot. It is made by adopting movements of natural insects. The leg of a insect contains coxa, trochanter, femur, tibia, digitus, and pretarsus. But 3DOF hexapod robots only use coxa, femur and tibia (3 Servos per leg).
To maintain balance, the center of gravity (COG or COM center of mass) of the robot must be inside a supporting polygon. In the case the hexapod robot, the minimum requirement is the COG inside a supporting tripod, which means 3 legs needs to be on the ground at any one time. There are many Hexapod robot gaits, the most used gait is the trot gait (amble gait) because it’s the fastest gait (3 legs are lifted at the same time).