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<p>This paper focusses on the design, development, construction and testing of two biologically inspired walking robots: a six-legged hexapod prototype &amp; a refined four-legged quadruped robot. Each robot was constructed and retrofitted with parts to perform locomotion &amp; obstacle avoidance using sensor-based feedback &amp; obstacle avoidance. The Hexapod was focused and emphasized with tripod gait principles &amp; stability, while being equipped and powered by an Arduino Mega 2560 microcontroller. A quadruped robot was built for improved mechanical efficiency and wiring efficiently with retaining the same embedded systems &amp; integration of ultrasonic sensor detection logic. Both robots were built under strict cost and resource constraints, with also highlighting the modular software, gait-based mobility, and feedback from the sensor integrated, further reinforced the research used for this project on terrain classification and open sources for robotics.</p>

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A Simple Approach to the Development of a Hexapod and Quadruped Robot with Obstacle Avoidance

  • 期刊论文

  • 发表日期：

    2026年5月19日

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  • Md Rakibul Karim Akanda,
  • Joseph Perez,
  • Kae’von X. Thomas,
  • Dontavious Banks,
  • Dezmeon Clements

摘要

This paper focusses on the design, development, construction and testing of two biologically inspired walking robots: a six-legged hexapod prototype & a refined four-legged quadruped robot. Each robot was constructed and retrofitted with parts to perform locomotion & obstacle avoidance using sensor-based feedback & obstacle avoidance. The Hexapod was focused and emphasized with tripod gait principles & stability, while being equipped and powered by an Arduino Mega 2560 microcontroller. A quadruped robot was built for improved mechanical efficiency and wiring efficiently with retaining the same embedded systems & integration of ultrasonic sensor detection logic. Both robots were built under strict cost and resource constraints, with also highlighting the modular software, gait-based mobility, and feedback from the sensor integrated, further reinforced the research used for this project on terrain classification and open sources for robotics.