Design and modeling of a hexapod exploration robot
Published: September 7, 2026
Abstract
This study presents the forward and inverse kinematic analysis and development of a hexapod exploration robot designed for flexible locomotion over rough and complex terrain. The mechanical structure is inspired by sea-crab biomimetics, featuring six legs symmetrically arranged around a regular hexagonal chassis. Each leg has three degrees of freedom comprising Coxa, Femur, and Tibia joints, geometrically optimized to provide a wide workspace while lowering the center of gravity for improved tipping stability. The real-time control system employs a master–slave architecture in which an ESP32 microcontroller performs kinematic calculations and a PCA9685 driver controls PWM signals for 18 metal-gear MG90s servo motors. The chassis and leg components are designed for FDM 3D printing using PLA and PETG materials.
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