The hexapod's legs have three degrees of freedom (DoF) to control forward/backward motion and height independently, allowing for versatile locomotion.
For joints and actuators, high-torque MG996R servo motors are used for actuation, with servo mounts serving as joints. The motors are distributed among the coxa, femur, and tibia sections.
Inverse kinematics calculations are employed to determine joint angles (l1, l2, and l3) needed to achieve a desired end effector position and orientation for the robot's legs.
Trajectory Generator: The robot follows a predefined trajectory with phases and repeats the cycle consisting of lift-off, swing, touchdown, and stance for each leg during locomotion.
Gait Planning: A tripod gait is implemented, providing a balance between speed and stability for the hexapod.