The Hexapod Walker
by Nidhi Kalra
Welcome to Bug, a simple hexapod walker controlled by the Atmel AT90S8515. This site documents the internal workings of Bug and provides a complete, detailed guide to constructing your own Bug.
Bug originated as an idea I had to use the Atmel line of microcontrollers to control a set of servos in an autonomous system. Wanting an inexpensive, easily constructable system, I chose to build a hexapod walker with three servos, the minimum needed for any walker to successfully locomote. I had several goals for Bug, each to designed to push its control in a new direction and to get more than just a preprogrammed little machine:
Goals 1 and 2 are necessary for 3-5, which can be implemented independently or together as complete system. I would also like to implement different modes of control that use other Atmel applications:
Finally, I have a very ambitious plan that is likely to remain a plan due to its complexity:
This last part would be just about the coolest thing in the world. Electrically, it would require a very powerful chip and very fine sensors for feedback control, and the software might be rather complex for the feedback.
Currently, stages 1-3 have been implemented. I have been working on this project since February 2001, with most of the research going into develping an easy way to build and maintain Bug.