Hexapod Manipulation

Industrial deployment of Hexapods at Container Ports

Overview

Industrial Deployment of Hexapods in collaboration with the Port of Singapore Authority (PSA) Completed May,2025

This project is focused on the development and deployment of a legged manipulation framework on a hexapod robot for efficient twist-lock operations in container handling. Twist-locks are omnipresent in container management, wwhether on ports or ships. The project aims to reduce the human effort and risk involved in this highly abundant yet perilious job. The project explores real-world applications of legged robotics in industrial automation. I worked as the part of the horizontal placement team, on hexapod locomotion and manipulation with successful completion of the final project demonstration.

Manipulation of twist-lock for pick-up and carrying on the base of the robot.
Pybullet Simulation of the model on a container
Deployment of Hexapod for horizontal placement performed on top of containers at the PSA

Technical Implementation

Legged Locomotion & Manipulation Control

  • Developed a hybrid locomotion-manipulation framework, where the front legs of the hexapod transition into manipulators with gripper attached. While the remaining legs enable finer adjustment for twist-lock deployment and pickup.
  • Implemented gait adaptation, allowing the hexapod to stabilize while executing precise twist-lock engagement and disengagement.

Hardware & Simulation

  • PyBullet simulation: Modeled the hexapod, its manipulators, and the twist-lock system for offline trajectory testing designed for safe yet precise manipulation.
  • HEBI API Control: Used for actuators on motors for real world deployment.
  • Gait transition testing: Simulated walking to manipulation shifts under different load conditions.