SpiderBot
Design, Development and Control of a custom-designed symmetrical hexapod robot with 3DoF per leg.
Overview
SpiderBot is a custom-designed symmetrical hexapod robot developed as part of the Electronics and Robotics Club, BITS Goa. Each of its six legs has 3 degrees of freedom (3DoF), allowing for precise and adaptive locomotion. The robot is designed to navigate various terrains using bio-inspired control mechanisms. We deployed a central pattern generator (CPG) controller to achieve gaits for locomotion.
Key Features
- Custom-designed & manufactured from ground up leading symmetrical hexapod with 3DoF per leg.
- Developed and tested multiple gait patterns, including:
- 3-3 tripod gait (faster, stable)
- 4-2 gait (adaptive to rough terrains)
- Implemented a bio-inspired Central Pattern Generator (CPG) controller for smooth and adaptive locomotion.
- Conducted extensive testing on trotting, on-spot twisting, and terrain adaptation in real-world environments.
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Secured 2nd position at the Open Design Contest, conducted by the Department of Electrical and Electronics Engineering. Certificate
- Achieved external control capability, enabling remote navigation & motion demonstrations.
Walking Demonstrations
Initial testing
Multiple gaits
On-spot twisting
SpiderBot Prototype
SpiderBot the headliner of QUARK 2022, technical fest project display.
Development & Team Leadership
- Led a team of 25 students over all the development teams, design, electronics and control over two years to design, build, and test SpiderBot.
- Managed electronics, mechanical, and software development teams.
- Designed custom made pcb for power distribution and raspi-arduino interface via rosserial.
- Achieved the first successful hardware implementation of the hexapod.
- Developed a CPG-based controller, enabling smooth gait transitions.