Hexa Pod Crawler: An Adruino Based Autonomous Wheel-Supported Six-Legged Miniature Robot

     Decades have passed since researchers started to study about legged robots. However, only these past recent years have efficient design and build of legged robots fitting to perform practical applications. Until now, it is still not yet explored thoroughly. Robotics is still studied by the researchers and uses it for automation for human assistance. Developments of technologies under robotics are still rescarched for upgrades and additional features to be more efficient for industries.

     To study further about the said machines, this paper provides an overview to study a robotic hexapod's walking motion, design, stability, controls, structure, and electronic devices and/or materials used . The objective of this paper is to automate an efficient, effective and feasible autonomous miniature six-legged robot supported by a wheel that has a robotic locomotion of forward and right. This study aims to program the devices and materials that have been incorporated to the machine for its compatibility.

     This study is only limited on the discussion about designing and building the construction of the six-legged robot and its locomotion. The researcher did comprehensive research and rigorous data gathering related to the topic. The researcher also did numerous testing and simulations for the materials and programs used in the machine. Trial-and-error method has been used by the proponent for developing the Hexapod Crawler. As the result of multiple experiments. The researcher arrived in the conclusion to use six (6) servo motors for its legs, one (1) servo motor for its wheel, and an ultrasonic transducer to achieve the objectives of this study.