This paper introduces a compact hexapod that combines a single USB camera with two front-mounted ultrasonic sensors to perform fully autonomous target localization indoors. Eighteen smart servos are coordinated by an ESP32, while a Raspberry Pi 5 runs a 10 FPS YOLOv1l detector whose centroid and confidence values feed the influence term of a Repulsion-Attraction-Orientation-Influence (RAOI) controller; the ultrasonic sweep generated by the moving front legs supplies the repulsion term, so no side sonars or depth sensors are required. Early tests showed that a tripod gait introduced oscillations on the 1.5 kg platform, so the controller was switched to a wave gait that keeps at least four legs grounded, yielding smoother motion for vision-based steering. The robot was evaluated in a 2.3 \(\times \) 3.2 m. arena with a 0.6 L bottle placed at azimuths of \(0^\circ \) , \(45^\circ \) and \(90^\circ \) . Across fifteen replicas (five per azimuth) detection precision was 100%, stopping distance remained below 32 cm, and mean approach time was 75 s when the object was visible from the start versus roughly 220 s when a search phase was required-independent of the off-axis angle. These results demonstrate that a minimal sensor suite, coupled with RAOI control and a stable gait, can achieve repeatable navigation and provide a scalable foundation for multi-robot field applications.