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<p>The research presents an ESP32-based hexapod robot that uses its tripod walking pattern to maintain stable movement while users can control it through a smartphone application. This application provides various control options. The six-legged mobile platform maintains its balance on uneven terrain through its ability to maintain static stability, which allows it to perform environmental monitoring tasks and conduct search and rescue operations and reconnaissance missions. The robot uses an ESP32 microcontroller to control its operations in real-time while maintaining wireless communication. It uses PWM driver to control twelve servo motors, which provide two degrees of freedom for each leg. The robot operates through a Bluetooth mobile application that provides joystick controls, gesture recognition and voice command functionality for full control without requiring internet access or additional equipment. The system includes a GPS module, which tracks outdoor positions in real time, allowing the robot’s position to be viewed through the mobile device interface. The test results show that the system moves consistently while providing quick wireless responses and operates with multiple control methods in outdoor settings. The system delivers an affordable solution that can be carried between locations while providing strong operational stability by combining various control systems into one platform.</p>

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Design and implementation of an ESP32-based multimodal hexapod robot

  • 期刊论文

  • 发表日期：

    2026年8月5日

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  • Pranav Rajuri,
  • Atharv Babu,
  • Saikiran Reddy,
  • Bikram Singh Solanki

摘要

The research presents an ESP32-based hexapod robot that uses its tripod walking pattern to maintain stable movement while users can control it through a smartphone application. This application provides various control options. The six-legged mobile platform maintains its balance on uneven terrain through its ability to maintain static stability, which allows it to perform environmental monitoring tasks and conduct search and rescue operations and reconnaissance missions. The robot uses an ESP32 microcontroller to control its operations in real-time while maintaining wireless communication. It uses PWM driver to control twelve servo motors, which provide two degrees of freedom for each leg. The robot operates through a Bluetooth mobile application that provides joystick controls, gesture recognition and voice command functionality for full control without requiring internet access or additional equipment. The system includes a GPS module, which tracks outdoor positions in real time, allowing the robot’s position to be viewed through the mobile device interface. The test results show that the system moves consistently while providing quick wireless responses and operates with multiple control methods in outdoor settings. The system delivers an affordable solution that can be carried between locations while providing strong operational stability by combining various control systems into one platform.