This paper presents the development of a hexapod robot designed to assist the mobility of visually impaired and elderly people in indoor and outdoor environments. The problems and requirements of assistive devices for these user groups are analyzed, taking into account aspects such as human-machine interaction, safety, adaptability, accessibility and reliability. The design of the robot, which combines two front legs equipped with monitored wheels and four wheels, two of which are monitored, attached to a hexagonal platform that forms its body, is presented.