Design of Hexapod Robot Movement Based on Arduino Mega 2560

Abstract

This study aims to design the movement of the hexapod robot so that it can move straight forward, turn 90 degrees forward, and move forward 180 degrees by applying the tripod gait method to produce a maximum movement pattern. The robot control system uses Arduino Mega 2560 to control the motion of 18 servo motors through the I2C interface servo motor driver - PCA9685. In straight forward motion testing, an average velocity of 6 cm/s was obtained, 90 degree forward motion testing obtained an average speed of 18 degrees/s, while the 180 degree rotational forward motion test also obtained an average speed of 18 degrees/s.