In some quite dangerous working conditions for humans, such as disaster zones after natural disasters like earthquakes and typhoons, manual operations often carry safety risks and have low efficiency. Therefore, the use of robots can enhance safety. To address issues of low stability, low accuracy, and obstacle avoidance in robots, this design employs an STM32 controller and a 32-channel control system to create a hexapod control system. The system is programmed using the C language and other languages such as Arduino. Utilizing physical and kinematic formulas, a three-dimensional coordinate model was developed, and an advanced Kalman filter was used for obstacle avoidance. An artificial potential field method was adopted for path planning. A flowchart was created to implement motion control, the obstacle avoidance system, and the hexapod's route. This can make the hexapod more intelligent and multifunctional.