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Design of Hexapod Robot Movement Based on Arduino Mega 2560

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The 1st International Conference on Vocational Education and Technology IOP Publishing
IOP Conf. Series: Journal of Physics: Conf. Series 1165 (2019) 012011 doi:10.1088/1742-6596/1165/1/012011

Design of Hexapod Robot Movement Based on Arduino Mega

2560

K U Ariawan1,a, G S Santyadiputra2 and I W Sutaya1

1
Electronics Engineering Study Program, Technical and Vocational Faculty,
Universitas Pendidikan Ganesha
2
Informatics Engineering Education Departement, Technical and Vocational Faculty,
Universitas Pendidikan Ganesha

E-mail : audyariawan@undiksha.ac.id

Abstract. This study aims to design the movement of the hexapod robot so that it can move
straight forward, turn 90 degrees forward, and move forward 180 degrees by applying the
tripod gait method to produce a maximum movement pattern. The robot control system uses
Arduino Mega 2560 to control the motion of 18 servo motors through the I2C interface servo
motor driver - PCA9685. In straight forward motion testing, an average velocity of 6 cm/s was
obtained, 90 degree forward motion testing obtained an average speed of 18 degrees/s, while
the 180 degree rotational forward motion test also obtained an average speed of 18 degrees/s.

1. Introduction
A robot is a multifunctional machine that can be programmed and designed to be able to move
materials, parts, tools, or tools with certain specifics through programmed variable movements to do
work from a variety of tasks. The number and types of robots made are increasing. However, based on
the motion tool robots are classified into two types, namely wheeled robots and legged robots.
Wheeled robots are robots that move with two or more wheels, while legged robots are robots that
move with legs. Some are biped, tripod, quadruped, and hexapod [6].
According to the name hexapod robot is a type of mobile robot that moves using six feet, because
robots can be statistically stable using three feet so the hexapod robot certainly has higher flexibility.
If there is one leg that does not work, then the robot still can run. What is more, not all robot legs are
needed for stability, other legs can move freely to find new footing in walking [7].
The design and manufacture of the hexapoda fire fighting robot is in preparation for the Indonesian
Robot Contest (KRI) which is routinely held annually by the Ministry of Research, Technology and
Higher Education of the Republic of Indonesia. One of KRI's divisions is the Indonesian Fire
Extinguisher Robot Contest (KRPAI) in the legged category. There are several hexapod robot foot
movement methods, including the ripple gait, wave gait, and tripod gait. However, only the tripod gait
method was applied to the hexapod robot legs. In the tripod gait method, the robot runs by lifting three
legs at a time and leaving the other three legs as a foothold. Using this method one cycle can be
completed in two steps so as to allow the robot to move quickly [3].
The main hexapod robot control system using Arduino Mega 2560 is an Arduino-based
microcontroller development board using the ATmega2560 chip. This board has a lot of I/O pins, 54

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The 1st International Conference on Vocational Education and Technology IOP Publishing
IOP Conf. Series: Journal of Physics: Conf. Series 1165 (2019) 012011 doi:10.1088/1742-6596/1165/1/012011

digital I/O pins (15 of which are PWM), 16 analog input pins, 4 UART pins (serial hardware port).
In each leg the hexapod robot is driven by 3 servo motors, so that the total number of servo motors
used is 18. Servo motors are used, namely the type of Hitec HS-645MG servo motor. A servo motor is
a motor with a closed feedback system where the position of the motor will be informed back to the
control circuit that is in the servo motor. The servo motor consists of a motor, a series of gears, a
potentiometer and a control circuit. Potentiometer serves to determine the angle limit of the servo
rotation. Whereas the angle of the servo motor axis is set based on the width of the pulse sent through
the foot of the signal from the motor cable.
To control these 18 servo motors, PCA9685 16 channel type servo motor driver circuit is used,
because 1 maximum servo motor driver can only control 16 servo motors, 2 servo motor driver
circuits are used (each servo motor driver set 9 servo motors). With the use of the servo motor driver
can save the use of pins on Arduino Mega which is only 2 pieces.

2. Research Methods
The approach in this study uses the Research and Development (R & D) method. Research design
includes designing robotic hardware and Arduino software. Development research is often interpreted
as a process or steps to develop a new product or perfect an existing product. Products in this context
are not always hardware (books, modules, learning aids in classrooms and laboratories), but can also
be software (software) such as programs for data processing, classroom learning, libraries or
laboratories, or educational models, training, guidance, evaluation, management, etc. The steps of this
process are usually referred to as the Research and Development (R & D) cycle, which consists of
studying research findings related to the product to be developed, developing products based on these
findings, testing fields in settings where they will be used eventually, and revising them for correct the
deficiencies found in the stage of submitting the test. In programs that are more stringent than
development research, this cycle is repeated until the test data shows that the product meets the
defined behavioral objectives [8].

Figure 1. R & D approach

according to Borg and Gall [1].

3. Research Design
The design and manufacture of the hexapod robot consists of three stages, between the design of robot
mechanics, the design of control systems, and the design of programming algorithms. Robot
mechanics are designed with clear acrylic material with a thickness of 5 mm. Each hexapod robot leg
is designed to have two segments with three degrees of freedom, namely up and down for the first and
second segments, and back and forth for both segments at once.

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The 1st International Conference on Vocational Education and Technology IOP Publishing
IOP Conf. Series: Journal of Physics: Conf. Series 1165 (2019) 012011 doi:10.1088/1742-6596/1165/1/012011

Figure 2. Designing hexapod

robot legs for vertical motion
[5].

Figure 3. Design of hexapod

robot legs for horizontal
motion [5].

Figure 4. Design of a whole

hexapod robot mechanic [5].

On each robot leg is driven by 3 servo motors, so that the total number of servo motors used in
hexapod robot mechanics are 18 pieces. One servo motor has 3 pins (Vcc, Gnd, Signal) which are
connected to the control system (Arduino Mega). The type of servo motor used is Hitec HS-645MG. A
servo motor is a motor with a closed feedback system where the position of the motor will be informed
back to the control circuit that is in the servo motor. The servo motor consists of a motor, a series of
gears, a potentiometer and a control circuit. Potentiometer serves to determine the angle limit of the
servo rotation. Whereas the angle of the servo motor axis is set based on the width of the pulse sent
through the foot of the signal from the motor cable.

Figure 5. Servo motor Hitec

HS-645MG.

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The 1st International Conference on Vocational Education and Technology IOP Publishing
IOP Conf. Series: Journal of Physics: Conf. Series 1165 (2019) 012011 doi:10.1088/1742-6596/1165/1/012011

To control the 18 servo motors, PCA9685 16 channel type servo motor driver circuit is used,
because 1 maximum servo motor driver can only control 16 servo motors, 2 servo motor driver
circuits are used (each servo motor driver set 9 servo motors).

Figure 6. Servo motor driver-

PCA9685.

PCA9685 which features 16 PWM channels using only 2 pin i2c/twi ports. Not only that, if 16
PWM channels are still considered lacking, we can still double the number of PWM channels by
expanding the PCA9685 module to 62 modules (or equivalent to 992 PWM channels). With the use of
the servo motor driver can save the use of pins on Arduino Mega which is only 2 pieces.

Figure 7. Pins jumper to

increase the use of PCA9685
servo motor drivers more than
one.

In the design of the hexapod robot control system, Arduino Mega 2560 is used. Arduino Mega
2560 is a controller that uses ATmega 2560 as the processor. Arduino Mega 2560 has 54 pin input and
digital output pins. Of the 54 pins, 15 pins are used for PWM output. In addition, there are 16 pins that
are used for analog input and for UART (Universal Asynchronous Receiver Transmitter) there are 4
pins.
The power source used for Arduino Mega 2560 is sourced from outside which is obtained from an
external power supply. Arduino Mega 2560 can work at a voltage of 6-20 volts. However, if the
voltage used exceeds 12 volts, the current that flows will be large so that it will make the PCB (Printed
Circuit Board) become hot. Excessive heat can cause damage. If the voltage used is less than 7 volts,
the voltage obtained will not be stable. Therefore, the recommended voltage is between 7-12 volts so
that the controller can work properly.

Figure 8. Arduino Mega 2560.

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The 1st International Conference on Vocational Education and Technology IOP Publishing
IOP Conf. Series: Journal of Physics: Conf. Series 1165 (2019) 012011 doi:10.1088/1742-6596/1165/1/012011

In designing programming algorithms using Arduino (IDE) software. The IDE is Integrated
Development Environment, or in easy language it is an integrated environment that is used as
development. It is referred to the environment because through this software that Arduino is
programmed to perform functions embedded through programming syntax. Arduino uses its own
programming language that resembles C. The Arduino (Sketch) programming language has been
changed to make it easier for beginners to do programming from the original language. Before being
sold to the market, the Arduino microcontroller IC has been implanted a program called bootlader
which functions as an intermediary between the Arduino compiler and the microcontroller.

Figure 9. Arduino IDE

software.

Arduino IDE is made from the JAVA programming language. The Arduino IDE also comes with a
C/C++ library commonly called Wiring, which makes input and output operations easier. This
Arduino IDE was developed from Processing software which was overhauled into an Arduino IDE
specifically for programming with Arduino.
Before programming using the Arduino IDE, the hexapoda robot movement pattern was first
designed. The hexapod robot movement pattern is designed so that it can move straight forward, turn
forward, and move forward with maximum movement patterns. There are several hexapod robot foot
movement methods, including the ripple gait, wave gait, and tripod gait.

Figure 10. Illustration of

hexapod robot foot movements
in various methods.

However, only the tripod gait method was applied to the hexapoda robot legs. In the tripod gait
method, the robot runs by lifting 3 legs at a time and leaving the other 3 legs as a foothold. Using this
method 1 cycle can be completed in 2 steps so as to allow the robot to move quickly.

Figure 11. Illustration of

hexapod robot foot movements
in the tripod gait method.

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The 1st International Conference on Vocational Education and Technology IOP Publishing
IOP Conf. Series: Journal of Physics: Conf. Series 1165 (2019) 012011 doi:10.1088/1742-6596/1165/1/012011

The working principle of the system of this research, which starts when Arduino Mega on the
hexapoda robot is given 9V and 12V voltage, the indicator light will turn on and the hexapoda robot is
ready to move because it has been given a logic motion pattern of tripod gait.

4. Results
After completion at the design stage, then proceed with the testing phase. At this stage, the time that
can be reached by the hexapod robot is to do a straight forward movement, turn forward 90 degrees,
and rotate forward 180 degrees. The test is done in a closed room with a flat road surface made of
ceramic (floor).

Figure 12. The hexapod robot looks forward. Figure 13. The hexapod robot looks up.

Measurement of the travel time of hexapoda robot movement is measured by using a stopwatch and
measuring the distance traveled in centimeters. Measurement of turn and spin direction is measured by
determining the initial angle and the end angle achieved by the movement of the hexapod robot.

Table 1. Straight forward road movement

Test Distance (cm) Time (s)
1 30 5.3
2 30 5.3
3 30 5.2
4 30 5.1
5 30 4.9
6 30 4.9
7 30 4.9
8 30 4.8
9 30 4.8
10 30 4.8
Average 30 5
Speed 6 cm/s

Table 2. The forward road movement turns 90

degrees
Test Angle Degree (0) Time (s)
1 90 5.2
2 90 5.2
3 90 5.1
4 90 5.1
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The 1st International Conference on Vocational Education and Technology IOP Publishing
IOP Conf. Series: Journal of Physics: Conf. Series 1165 (2019) 012011 doi:10.1088/1742-6596/1165/1/012011

5 90 5
6 90 5
7 90 4.9
8 90 4.9
9 90 4.8
10 90 4.8
Average 90 5
Speed 180/s

Table 3. The forward road movement rotates

180 degrees
Test Angle Degree (0) Time (s)
1 180 10.3
2 180 10.2
3 180 10.1
4 180 10
5 180 10
6 180 10
7 180 9.9
8 180 9.9
9 180 9.8
10 180 9.8
Average 180 10
0
Speed 18 /s

5. Conclusion
The results of the discussion have been explained, it can be concluded that the application of the
movement of the tripod gait method on hexapod robots produces an average straight forward speed of
6 cm/s, and is able to move turns and rotates with an average speed of 18 degrees per second.
Hexapoda robot is able to move perfectly on a flat road surface made from ceramic (floor).

6. References
[1] Haryati, S. (2012). Research and Development (R&D) As One Model of Research in Education,
37(1), 11–26.
[2] Jupii, K., & Toar, F. A. V. (2008). Intelligent Robot Electronics Legs Fire Extinguisher, 168–177.
[3] Kemenristekdikti. (2015). Indonesian Fire Extinguisher Robot Contest Guide ( KRPAI ) 2015.
[4] Loe, I. A., & Purba, R. (2012). Realization of Legged Firefighting Robot for 2012 Legged KRCI
Competition. Kristen Maranatha.
[5] Nalwan, Paulus Andi.(2012). Building Mechanical Systems on KRCI Robots with legged
categories. http://delta-electronic.com/article/2012/02/an0183-membangun-sistem-mekanik-
pada-robot-krci-kategori-berkaki/. accessed on 05/10/18.
[6] Setiawan, S., Firdaus, Rahmadya, B., & Derisma. (2015). Application of inverse kinematics for
movement of Biped robot legs, (November), 1–9.
[7] Shinta, P., & Dedy, H. (2015). Foot Movements on Hexapod Robots.
[8] Universitas Pendidikan Genesha. (2016). Guidelines for Final Project Scientific Writing, Thesis,
Thesis and Dissertation. Singaraja.