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Robotics Platform

Hexapod Robot
Advanced Platform

A six-legged autonomous robot utilizing coordinated tripod gaits and synchronized servo control for stable locomotion. Designed to explore hexapod movement dynamics and bio-inspired robotics principles.

18
DOF
Tripod
Gait Type
3
Team Size
View Source Code
Hexapod Robot Navigation

Key Features

Robust gait algorithms and object-oriented control design

Tripod Gait Algorithm

Implemented stable tripod gait logic, lifting 3 legs simultaneously (RF, LM, RB) while maintaining 3 contact points.

Smooth Motion Profiling

Custom smoothing algorithms for servo movement to prevent jerky mechanical stress and ensure fluid locomotion.

Omnidirectional Movement

Capable of Forward, Backward, and Lateral (crab-walk) movement patterns using coordinated leg joint mapping.

Modular OOP Architecture

Scalable Python codebase with dedicated `HexapodLeg` and `HexapodRobot` classes for easy expansion.

Dual Driver Management

Synchronized control of 18 servos across two PCA9685 I2C driver boards for seamless joint actuation.

Parametric Configuration

Flexible `ServoConfig` system allowing easy calibration of channel mapping, inversion, and offsets for each leg.

Project Gallery

Visual documentation of the design and assembly

Hexapod Side View
Mechanical Structure
Electronics & Wiring

Technology Stack

Hardware and software components powering the platform

Hardware

Raspberry Pi 4 PCA9685 Drivers MG996R Servos LiPo Power

Software & Control

Python 3 Adafruit ServoKit OOP I2C Protocol

Concepts

Tripod Gait Forward Kinematics Motion Profiling Servo Calibration

Development Team

A collaborative effort combining Mechanical, Electronics, and Software Engineering.

Bashar Hlail Software & Control
Emad Makhlouf Mechanical Design
Sari Shayeb Electronics