Hexaplorer

dc.contributor.author	Asem Diab
dc.contributor.author	Mohamad Salha
dc.date.accessioned	2026-06-30T08:18:40Z
dc.date.issued	2025-06-27
dc.description	--
dc.description.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.
dc.description.sponsorship	--
dc.description.statementofresponsibility	--
dc.description.tableofcontents	--
dc.identifier.citation	--
dc.identifier.other	12111959
dc.identifier.uri	https://hdl.handle.net/20.500.11888/21111
dc.language.iso	en
dc.publisher	Dr. Aladdin Masri
dc.relation.ispartofseries	--; --
dc.subject.classification	Industry
dc.supervisor	Dr. Aladdin Masri
dc.title	Hexaplorer
dc.title.alternative	--
dc.type	Graduation Project
person.telephone	970598138847