Kybulf jr. The Walking Six-Legged Bug Robot

Abstract

This paper describes how to build a small, lightweight hexapod (a six-legged bug-robot), using mostly off-the-shelf electronic hardware.

The paper will discuss the electronic components that are used and their role in the robot. It explains how the robot was designed, 3D-printed, and how to assemble the robot.

It will also take a closer look at how the software developed for the robot is built up, and how the different hardware components communicate with each other. Finally, we will explain how the robot controls the legs, both in a mathematical view and from a software perspective.