The Hexapod v1 is an advanced 6-legged walking robot featuring 18 Degrees of Freedom (3-DOF per leg).This iteration focuses on high-torque serial bus actuation and a streamlined ESP32-based control architecture.
Unlike standard PWM servos, the SC15 motors provide:
- Daisy-Chained Wiring: Only one data line is needed per leg (or even the whole body), drastically reducing cable clutter.
- Two-way Feedback: Real-time monitoring of position, speed, torque, voltage, and temperature.
- Precision: 17kg.cm stall torque with 0.16° position resolution.
- Module: ESP32-WROOM-32.
- Features: Integrated serial bus servo interface, Wi-Fi/Bluetooth connectivity for remote operation, and an onboard OLED header for status debugging.
- Custom Power PCB: A bespoke power distribution board designed to channel high current to 24 servos, preventing voltage drops during high-torque maneuvers.
The project is developed under the expert guidance of our faculty mentors at IIT Delhi:
| Name | Designation | Role |
|---|---|---|
| Raj Gowtham | Btech 2nd Year | Lead Advisor, MECHANICAL |
| Shivanshu aryan | Btech 2nd Year | Lead Advisor, SIMULATION |
A multidisciplinary team of students from the Robotics Club, IIT Delhi is responsible for the design, simulation, and fabrication of the Hexapod.
- CURRENTLY | Name | Role | Core Responsibility | | :--- | :--- | :--- | | Nikhil | Mechanical | CAD Design, URDF Export | | Vijay | Mechanical | CAD Design, URDF Export | | Gyan | Mechanical and PCB | CAD Design, Power PCB design | | Vanshika | Mechanical and PCB | CAD Design, Power PCB design | | Uday | Simulation | PyBullet Environment & Inverse Kinematics | | Harshita | Simulation | PyBullet Environment & Inverse Kinematics| | Kartikey | Simulation | PyBullet Environment & Inverse Kinematics | | Pranav | Simulation | PyBullet Environment & Inverse Kinematics | | Akshara | Simulation | PyBullet Environment & Inverse Kinematics|