CONTENTS PAGE NO.

CHAPTER 1 INTRODUCTION

1.1 INTRODUCTION 1

CHAPTER 2 WORKING OF COMPONENTS USED 4

2.1 LIST OF COMPONENTS 4

2.1.1 FRAME 4

2.1.2 Microcontroller (ATmega2560) 6

2.1.3 Servo Motors 17

2.1.4 Bluetooth receiver (HC-05) 18

2.1.5 Power Supply 22

2.1.6 Voltage Regulator (7805) 23

2.1.7 Diodes (4001) 24

2.1.8 Capacitors (1000µF) 25

2.1.9 Servo Driver 26

CHAPTER 3 BLOCK DIAGRAM AND WORKING 29

3.1 BLOCK DIAGRAM 29

3.2 WALKING MECHANISM 31

3.2.1 WALKING ALGORIYHM 32

CHAPTER 4 CONCLUSION AND FUTURE TRENDS 33

4.1CONCLUSION 33

4.2 FUTURE TRENDS 33

REFRENCES 35

LIST OF FIGURES
Fig. 1.1 Spider (Hexapod idea) 1

Fig. 2.1 chassis structure 5

Fig. 2.2 limb of hexapod 5

Fig. 2.3 Microcontroller (ATmega2560) 7

Fig. 2.4 Pin Configuration of ATmega2560 Microcontroller 9

Fig. 2.5 CBGA-pin out ATmega640/1280/2560 10

Fig. 2.6 Block Diagram 12
Fig. 2.7 Servo Motor 18

Fig. 2.9 Pin configuration of Hc-05 20

Fig. 2.8 HC-05 Bluetooth receiver 22

Fig. 2.10 NiCd battery 23

Fig. 2.11 7805 voltage regulator 24

Fig. 2.12 IN-4001 25

Fig. 2.13 Capacitor 26

Fig. 2.14 Servo Driver 26

Fig. 2.15 Connection Between Servo and Servo Driver 27

Fig. 3.1 Block Diagram of Hexapod 29

Fig. 3.2 Schematic diagram of Hexapod Robot 30

Fig.3.3 Top view of the robot showing the movement direction 31

 List of tables
Table 1.1 CBGA-pin out ATmega640/1280/2560
Table 2.2 Function of various pins