A simple hexapod walking robot

The parts

1. Tie-wraps (aka zip-lock ties)
2. An Arduino - I used a VISduino
3. An Arduino sensor shield
4. An IR remote control + the receiver board - I used the Keyes one
5. 6x micro servos - I used the SG-90 ones, but have used MG-90S in similar designs
6. 1x Extra servo + An ultra sonic module + cable - I used HC-SR04 (ultasonic option only)
7. Some large paper clips (for legs).
8. 2x credit card sized pieces of plastic
9. Battery box + batteries - I used 4xAAA in the final design
10. Foam tape

Installing the software

1. Download the sketch (from robot6.zip)
2. Install the Servo and IRremote libraries.
3. Add the NewPing library (ultasonic option only)
4. Get it to compile - See the comments in the code, you will probably need to edit the library code to get them to compile together
5. Download it/Run it

Reset the servos

• One at a time, go through all the servos, and plug them onto output 2, this will reset the servo to it's mid-point.

Building the robot

1. Make the legs, straighten a large paperclip, then feed it through the servo horn. You might need to use a small drill to enlarge the holes.
2. Add foam tape to the base card
   
3. Stick the servos down one side of the base card (output shafts towards the back edge)
   
4. Add the ultrasonic movement servo (ultasonic option only)
5. Stick the servos down the other side of the base card (output shafts towards the back edge)
   
6. Cut a slot in the top card, and use more foam tape to stick in on top (ultasonic option only)
   
7. Add the arduino and the battery box
   
8. Add the ultra sonic sensor (ultasonic option only)
9. Add the IR receiver
10. Plug in the connections
    

Connections

• Out 2 = right rear
• Out 3 = right lift
• Out 4 = right front
• Out 5 = left rear
• Out 6 = left lift
• Out 7 = left front
• Out 8 = ultrasonic movement servo (ultasonic option only)
  
• In 11 = IR receiver
• Out 12 = Ultrasonic trigger (ultasonic option only)
• In 13 = Ultrasonic receive (ultasonic option only)

Notes:

• The servos can draw a lot of current, and this can reset the Arduino. To prevent this I put a big capacitor across the battery input (I have a 4700uF/16V in my box, that I used).
• There are several different sets of IR remote control codes, the code handles two of them, you can add more to the case statements.
• You can fine tune the leg positions by changing the code.
• If you make holes either side of the servos in the cards, you can use more ties to stop the tape peeling over time.

Remote comands

• up = go forward
• down = go backwards
• left = turn left
• right = turn right
• OK = Stop / sit
• * = Auto (use ultrasonics to avoid obstacles)
• # = test, output the current ultrasonic range to the RS232 port, and move each of the legs (right rear, right mid, right front, left rear, left mid, left front).
• 1-9 = set this number of steps
• 0 = keep going until stopped

Demo video