Hexaplorer

Abstract

Hexaplorer is a six-legged robotic platform designed for navigating hazardous or inaccessible environments such as disaster zones and industrial infrastructures. Its hexapod design offers superior terrain adaptability compared to wheeled robots, uti- lizing forward/inverse kinematics and Bézier curve-based gait generation for lifelike, stable movement. Dynamic balance is maintained via a PID-controlled MPU6050 gyroscope, while dual IR and leg-mounted contact sensors enable responsive terrain interaction. Powered by 18 servo motors controlled through PCA modules and an Arduino Uno, Hexaplorer is remotely operated via a React Native mobile app and features live video streaming through an ESP32-CAM. This integration of intelli- gent software and robust hardware enables agile, adaptive exploration in complex environments.