Mechanism Design and Gait Analysis of A Hexapod Robot

This paper introduces the relevant design and practice of bionic principle of hexapod robot based on STM32. We first design the foot and carry out inverse kinematics analysis of the foot. Then we take hierarchical control of the foot, and send coordinate value through serial interface to make the foot reach the specified coordinate position. At the same time, we plan the vertical triangular gait for the robot, and record the design process step by step, finally practice the design is completed on the prototype. The practical results show that the hexapod robot control system has certain execution and stability in the experimental environment, which can control the foot for multi-terrain adaptation and multi-action realization.