A PROJECT PHASE - I

REPORT ON

“METAL DETECTION & SURVEILLANCE USING

HEXAPOD”

Submitted by
Sayali Kothawade (B1901303062)
Vineet Malur (B1901303068)
Jidnya Pagare (B1901303078)

Under the Guidance of

Prof. S. A. Karpe

DEPARTMENT OF ELECTRONICS AND TELECOMMUNICATIONS

ENGINEERING

KARMAVEER KAKASAHEB WAGH INSTITUTE OF

ENGINEERING AND RESEARCH, NASHIK

SAVITRIBAI PHULE PUNE UNIVERSITY

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 CERTIFICATE

This is to certify that

Sayali Kothawade
Vineet Malur
Jidnya Pagare
Has successfully delivered a seminar on

“METAL DETECTION & SURVEILLANCE USING

HEXAPOD”

PROJECT GUIDE
Prof. S. A. Karpe

Has submitted the project seminar report in the partial fulfillment of requirements
of B.E. (E&TC) course as expected by the Savitribai Phule Pune University for
the academic year 2024-2025

Internal Guide Head of Dept. Principal

Prof. S. A. Karpe Prof. Dr. D. M. Chandwadkar Prof. Dr. K. N. Nandurkar

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 ACKNOWLEDGEMENT

We would like to express our sincere gratitude to everyone who contributed to the successful
completion of this project on metal detection and surveillance hexapod using Raspberry Pi
Pico. This project, which integrates Raspberry Pi Pico as the main body microcontroller, 18
TowerPro MG 995 servomotors controlled by two PCA 9685 servo motor drivers, and an A88
metal detector sensor for landmine detection, was made possible through the support and
guidance of many individuals and institutions.

First and foremost, we would like to thank our college, K. K. Wagh Institute of Engineering,
Education & Research, for providing the resources and environment necessary to undertake
and complete this project. We are deeply grateful to the Head of Department, Prof. Dr. D. M.
Chandwadkar, for their leadership and for fostering an atmosphere of academic excellence.

We would also like to express our sincere appreciation to our project guide, Prof. S. A. Karpe,
for their continuous support, guidance, and valuable feedback throughout the course of the
project. The technical challenges faced, such as controlling the hexapod’s camera module for
surveillance, the NRF module for reception, and the two joysticks providing input to the
Atmega 328p for analog-to-digital conversion and transmission, were successfully navigated
thanks to their insights and expertise. The solution to manage noise cancellation with the crystal
oscillator was another crucial aspect where their advice was invaluable.

Our heartfelt thanks also go to our teammates and peers for their support and suggestions, as
well as to our families for their constant encouragement and motivation.

Thank you all for your significant contributions to the success of this project.

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 ABSTRACT

This project focuses on the design and implementation of a hexapod robot equipped with metal
detection and live camera surveillance capabilities, using a microcontroller as the sole control
unit. The six-legged hexapod is engineered for stability and adaptability, allowing it to navigate
various terrains effectively.

The robot incorporates a metal detection system for identifying metallic objects and a camera
module for live video streaming, enabling real-time remote surveillance. The microcontroller
processes sensor data, controls the hexapod's movements, and manages the live camera feed,
all through custom-developed software tailored for these tasks.

Extensive testing has shown that the hexapod effectively detects metals and provides
continuous visual feedback. These features make the robot suitable for applications in search
and rescue, security, and industrial inspections, demonstrating the versatility and capability of
this robotic platform.

Thrust Area: Robotics

Relevance: Application

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 INDEX

Sr. No. Chapter Page No.

1. Introduction 6

2. Literature Survey 11

3. System Details

3.1 Project Specification 20

3.2 Block Diagram 27

3.3 Description of Blocks 27

4. System Design

4.1 Design & Circuit Diagram 30

4.2 Simulation Results 32

5. Advantages & Applications 35

6. Project Completion Plan 42

References 44

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 1. INTRODUCTION

1.1 Background

Robotic systems have evolved significantly over the past few decades, with innovations
spanning across multiple industries, including defense, agriculture, manufacturing, and space
exploration. Hexapod robots, characterized by their six-legged structure, offer excellent
stability and mobility on uneven terrain, making them ideal for tasks that require movement
across rough landscapes. Metal detection and surveillance are crucial in various sectors,
particularly for landmine detection, border security, and rescue operations in hazardous
environments.

Incorporating a hexapod robot with metal detection and surveillance functionalities can
revolutionize how dangerous and inaccessible areas are explored. These robots can be deployed
in regions suspected of containing unexploded ordnance (UXO), landmines, or other threats,
enhancing both safety and efficiency. The use of modern control systems such as Raspberry Pi
Pico and advanced communication modules like NRF allows for precise movement and real-
time feedback from remote operators, thus broadening the potential applications of such robotic
systems.

1.2 Motivation

The need for a reliable, autonomous solution for landmine detection and surveillance in
hazardous environments drives the development of this project. Human involvement in mine
detection or border security is often life-threatening, and there is a growing need for automated,
robust, and efficient robots that can perform these tasks remotely. In war-torn regions or during
rescue operations, ensuring human safety while delivering real-time data is paramount. This
project aims to mitigate risks by deploying a hexapod robot with a metal detection system that
can detect and report potential hazards while capturing visual information for remote
monitoring.

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1.3 Problem Statement

The manual detection of landmines and unexploded ordnance (UXO) poses a significant threat
to human lives, as current methods rely heavily on trained personnel and animals. Additionally,
the need for real-time surveillance in hazardous areas, such as border regions or disaster zones,
requires the use of technology that can both detect metal threats and provide visual data from
remote locations. Existing solutions are often expensive, complex, and prone to operational
challenges such as limited mobility in rough terrains and unreliable communication systems.

1.4 Project Objective

1.4.1 Main Objective:

The primary objective of this project is to design and develop a hexapod robot capable
of performing metal detection and surveillance in hazardous areas. The robot will be
controlled wirelessly and will integrate advanced features like obstacle navigation,
metal sensing, and real-time video feedback.

1.4.2 Specific Objectives:

- To design and implement a control system using Raspberry Pi Pico as the main
microcontroller.
- To drive 18 servomotors (TowerPro MG995) for the hexapod’s six-legged
locomotion using two PCA9685 servo motor drivers.
- To integrate an A88 metal detector sensor for landmine detection.
- To install a camera module for real-time surveillance and image transmission.
- To implement NRF wireless communication modules for remote control and data
transmission.
- To use an ATmega328P microcontroller for converting analog joystick inputs to
digital signals and transmitting them to the hexapod via NRF.
- To minimize signal noise using a crystal oscillator for more reliable
communication.

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1.5 Significance of the Study

This study is significant in several areas, particularly in improving safety in hazardous

environments, such as war zones, disaster sites, or areas with unexploded ordnance (UXO).
The hexapod’s ability to detect metal objects such as landmines remotely reduces the risk to
human personnel and allows for more effective and efficient surveying of dangerous
landscapes. Furthermore, the addition of surveillance capabilities provides visual feedback for
real-time decision-making during operations, increasing the effectiveness of search and rescue
missions or border patrol.

1.6 Applications

The hexapod robot has various applications, including but not limited to:

- Landmine detection: It can be deployed in war zones or post-conflict areas to detect

unexploded ordnance and landmines, thereby ensuring the safety of personnel
during clearance operations.
- Border security and surveillance: The robot can monitor remote or inaccessible
areas along borders, providing real-time visual data to security personnel.
- Search and rescue missions: In disaster-stricken areas, the hexapod can navigate
difficult terrain to search for survivors while detecting potential hazards, such as
metal debris.
- Exploration of hazardous environments: The robot can be used in industrial
facilities, nuclear plants, or other dangerous locations to detect metal threats and
monitor activity from a safe distance.

1.7 Features

This hexapod robot boasts several key features that make it a versatile and effective solution:

- Stable and flexible movement: The use of 18 servomotors, controlled via two
PCA9685 servo drivers, ensures fluid and responsive movement on uneven terrain.
- Wireless control: The NRF module allows for remote operation, reducing the need
for direct human intervention in dangerous areas.

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 - Metal detection: The A88 metal detector sensor enables the detection of landmines
and other buried metallic objects.
- Surveillance: A camera module provides real-time video feedback for monitoring
and decision-making.
- Noise cancellation: A crystal oscillator helps in eliminating communication noise
during the transmission of control signals.

1.8 Feasibility Study

1.8.1 Technical Feasibility:

The use of widely available and reliable components such as the Raspberry Pi Pico,
ATmega328P, and TowerPro MG995 servos ensures the technical feasibility of the
project. The system design leverages established hardware and communication
protocols, minimizing the likelihood of unforeseen issues during development.

1.8.2 Economic Feasibility:

The cost of the hexapod components, including servos, metal detector sensors, and
communication modules, is relatively low compared to other robotic systems with
similar capabilities. Given the potential reduction in human casualties and the ability to
deploy the robot repeatedly, the long-term benefits outweigh the initial investment.

1.8.3 Operational Feasibility:

The design of the hexapod allows for intuitive control through joysticks and efficient
data transmission via NRF modules. With wireless capabilities and real-time feedback,
it can be easily operated by non-experts, making it suitable for field deployment in
diverse conditions.

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1.9 Overview

This project addresses safety concerns in hazardous environments by developing a hexapod

robot with metal detection and surveillance capabilities. Its advanced electronics and
communication systems provide a safer alternative to manual detection and monitoring, with
significant potential for landmine detection, border security, and rescue operations.

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 2. LITERATURE SURVEY

Sr. No. Title Authors Year

2.1 Shaping the energy curves of Ilya Brodoline, Emilie 2024

a servomotor‑based hexapod Sauvageot, Stéphane
robot Viollet & Julien R.
Serres

2.2 Insect-Inspired Robots: Julien R. Serres 2021

Bridging Biological and
Artificial Systems

2.3 Reinforcement Learning for Henrique Morais, João 2021

Adaptive Hexapod Santana
Locomotion

2.4 Design and Control of Pedro Lima, Miguel 2021

Hexapod Robots for Silveira
Exploration

2.5 Blind Hexapod Locomotion T. Azayev, K. 2020

in Complex Terrain Zimmerman

2.6 Raspberry- Pi Controlled Tisha Lukose, 2020

Landmine Detecting Robot Vijaykumar Patil

2.7 A Review on Design and Dinesh, Vivek 2017

Analysis of a Hexapod Khokher

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2.8 Raspberry Pi based security Singoee Sylvestre 2016
system Sheshai

2.9 Design, Fabrication & Sheik Aftab Alli 2015

Analysis of a Hexapod

2.10 Locomotion Analysis of Z.-Y. Wang, X.-L. 2010

Hexapod Robot Ding and A. Rovetta

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2.1 [1] I. Brodoline, E. Sauvageot, S. Viollet & J. R. Serres, “Shaping the Energy Curves
of a Servomotor-Based Hexapod Robot”, May 2024.

2.1.( i ) Model Leg made with 3 degrees of freedom. 2.1.( ii ) Leg tip trajectory for inverse kinematics.

Energy efficiency is a key challenge for hexapod robots. In this study, the researchers focus on
optimizing the energy consumption of a hexapod using servomotors. The findings suggest that
controlling the movement of each leg with precision can significantly reduce energy waste.
This has implications for our project, as the 18 servos controlled by two PCA9685 modules
need to be optimized for prolonged field use, especially when combined with power-hungry
components such as a camera module and metal detector.

2.2 [2] J. R. Serres, “Insect-Inspired Robots: Bridging Biological and Artificial Systems”,
November 2021.

2.2.( i ) Leg based on Cataglyphis fortis ant scale. 2.2.( ii ) Different control approaches to robot locomotion.

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 2.2.( iii ) Locomotion control involving interlimb coordination.

Biological inspiration is a growing trend in robotics, as observed in the study, where insect-
inspired locomotion is applied to hexapods for more efficient movement. The paper suggests
that mimicking the biomechanics of insects can lead to improved agility and adaptability. This
is applicable to our project as we aim to create a hexapod that can swiftly maneuver across
varied terrains while maintaining balance and precision during metal detection.

2.3 [3] H. Morais, J. Santana, “Reinforcement Learning for Adaptive Hexapod

Locomotion”, 2021.

2.3.( i ) The movement speed of hexapod. 2.3.( ii ) The vertical acceleration of hexapod.

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Reinforcement learning has been successfully applied to improve the adaptive capabilities of
hexapod robots. In scenarios where a hexapod needs to adjust its movements based on terrain
conditions, reinforcement learning offers an efficient method for real-time adaptation. While
our project focuses on a more manually controlled system, this research could provide insights
into future extensions of the project, where the hexapod could autonomously adjust its gait for
better metal detection accuracy in difficult terrain.

2.4 [4] P. Lima, M. Silveira, “Design and Control of Hexapod Robots for Exploration”,
December 2021.

2.4.( i ) Mechanical design of hexapod robot. 2.4.( ii ) Robot movement pattern with tripod gait algorithm.

Hexapods designed for exploration must be equipped with highly responsive control systems
to navigate unknown and rough terrains. The control mechanism presented in this paper aligns
well with our project, where two joysticks provide analog inputs to an ATmega328P, which
then sends digital signals to control the hexapod’s movements. The paper highlights the need
for precise control to avoid potential hazards, which is essential for our hexapod as it searches
for landmines while simultaneously surveying the area.

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2.5 [5] T. Azayev, K. Zimmerman, “Blind Hexapod Locomotion in Complex Terrain”,
March 2020.

This study focuses on hexapod locomotion in environments where sensory input is limited. It
discusses the challenges and solutions for maintaining stability in complex terrains without
relying on visual feedback. Our project integrates a camera module for surveillance, but this
research emphasizes the importance of mechanical stability and balance even when visual or
sensory inputs are not available or limited. The findings support the robustness required for
hexapod movement in unpredictable terrains during landmine detection missions.

2.6 [6] T. Lukose, V. Patil, “Raspberry-Pi Controlled Landmine Detecting Robot”,

September 2020.

This paper provides a blueprint for using Raspberry Pi as the main control unit in a landmine
detection robot. Our project also uses a Raspberry Pi Pico to control the metal detection sensor
(A88) and servomotors, and this research validates the choice of Raspberry Pi as a powerful,
cost-effective solution for real-time processing and control. The use of wireless communication
modules, such as the NRF module in our project, is also emphasized for remote operations,
ensuring safety for the operator.

2.7 [7] Dinesh, V. Khokher, “A Review on Design and Analysis of a Hexapod”, November
2017.

2.7.( i ) Bio mimetic leg 2.7.( ii ) 3-D model as basic reference.

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This paper reviews the mechanical design and control systems of hexapod robots. The paper
highlights different design challenges, particularly in load distribution across multiple legs and
the complexity of controlling multiple servomotors. This is directly relevant to our project,
which uses 18 TowerPro MG995 servos controlled by a Raspberry Pi Pico and PCA9685 servo
drivers. These design considerations are crucial for ensuring that the hexapod can carry the
weight of metal detection and surveillance equipment without compromising its agility.

2.8 [8] Singoee Sylvestre Sheshai, “Raspberry Pi-Based Security System”, 2016.

The integration of a Raspberry Pi into a surveillance system is detailed in this paper. The study
shows how Raspberry Pi’s versatility can be harnessed for security purposes, which relates
directly to the surveillance aspect of our project. Our project’s camera module, powered by
Raspberry Pi, ensures real-time monitoring of the surrounding area while conducting metal
detection, making this research particularly relevant for designing the surveillance component
of our system.

2.9 [9] Sheik Aftab Alli, “Design, Fabrication, and Analysis of a Hexapod”, 2015.

2.9.( i ) Drafted 3D model with dimensions.

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This paper provides an in-depth exploration of the design and construction of hexapod robots,
particularly focusing on the material selection and structural analysis for durability. In our
hexapod, durability and material selection are equally important due to the addition of
surveillance and detection systems that increase the payload. The findings from this research
help inform the design and fabrication stages of our project, ensuring that the structure can
withstand both the environment and the equipment’s weight.

2.10 [10] Z.-Y. Wang, X.-L. Ding and A. Rovetta, “Locomotion Analysis of Hexapod
Robot”, March 2010.

2.10.( i ) The Initial Stage.

2.10.( ii ) The First Step. 2.10.( iii ) The Second Step.

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The analysis of hexapod locomotion forms the basis for the effective movement and stability
of multi-legged robots. In the paper titled Locomotion Analysis of Hexapod Robot, various
gait patterns are discussed, showing how hexapods can traverse uneven terrains with higher
stability compared to wheeled robots. This provides a strong foundation for our project, where
locomotion stability is crucial for accurate metal detection in challenging environments, such
as uneven or debris-filled landscapes.

2.11 Overview
These research papers provide a comprehensive understanding of the various aspects of
hexapod design, control, and application in metal detection and surveillance. From locomotion
analysis and energy efficiency to advanced control systems and real-time surveillance, each
study contributes valuable insights that inform and enhance the development of our hexapod
robot project. Together, they help address the challenges of stability, efficiency, and
adaptability in hazardous environments, ensuring that our project is well-grounded in
established research while pushing the boundaries of innovation.

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 3. SYSTEM DETAILS

3.1 Project Specifications:

3.1.1 Objective:
To design and develop a hexapod robot capable of traversing rough terrains, detecting
landmines, and conducting surveillance, controlled wirelessly via joystick and
equipped with live camera feedback.

3.1.2 Hardware Components:

i. Microcontroller: Raspberry Pi Pico H

- Serves as the central control unit for the hexapod.

3.1.2.i a Features of Raspberry Pi Pico.

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ii. Servo Motors:
a. Towerpro mg995 - 18 servos rated at 4.8 to 7.2V, with a stall torque of
10 to 12 kg/cm, used to control the leg joints.

3.1.2.ii a TowerPro mg995 Servo Motor.

b. Towerpro sg90 – 2 servos rated at 3V to 7.2V, with a stall torque of 1.2

to 1.6 kg/cm for controlling the movement of a wireless live camera.

3.1.2.ii b TowerPro sg90 Servo Motor.

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iii. Servo Driver:
- Two PCA9685 servo driver boards used to control 20 of the hexapod’s servos
(10 per board).

3.1.2.iii a PCA9685 Servo Driver.

iv. Wireless Communication:

- Transmitter: ATmega328P microcontroller with two joysticks and an
NRF24L01 module for wireless control.

3.1.2.iv a ATmega328P microcontroller. 3.1.2.iv b NRF24L01 module.

- Receiver: Raspberry Pi with an NRF24L01 module and 20 servo motors

connected.

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v. Power Supply:
- Main Battery Pack: 6 batteries with a capacity of 3000mAh each, providing
power to the servos and the Raspberry Pi Pico.
- Power Bank: A 15,600mAh power bank with 6 cells providing power to the
ATmega328P microcontroller with two joysticks and an NRF24L01 module.

vi. Additional Components:

- A88 Metal Sensor: Used for landmine detection by identifying buried
metallic objects.

3.1.2.vi a A88 Metal Sensor.

- Wireless Camera Module: A live video feed camera for real-time

surveillance, mounted on the hexapod with servo-controlled movement.

3.1.2.vi b Wireless Camera Module

- NRF24L01 module: Used for wireless communication.

- Joysticks: Used for analog control.

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3.1.3 Software and Control:

i. Programming Platform: MicroPython for Raspberry Pi Pico, with control

logic for servo movement and wireless communication.
ii. Servo Control:
1) The hexapod's legs are controlled via three joints per leg:
• J1, J2, J3 for each of the 6 legs.
• Leg Joints:
• J1.x connects the leg to the body.
• J2.x controls the middle joint.
• J3.x controls the lower joint.
iii. Joystick Control:
1) Case 1: Forward/Upward Movement:
• J1.1, J1.3, J1.5: Moves 120° from A to B (t = 0 to 1), then B to A (t
= 1 to 2).
• J1.2, J1.4, J1.6: Moves 120° from B to A (t = 0 to 1), then A to B (t
= 1 to 2).
• J2.1, J2.3, J2.5: Moves 30° from C to D (t = 0 to 1), then D to C (t =
1 to 2).
• J2.2, J2.4, J2.6: Moves 30° from D to C (t = 0 to 1), then C to D (t =
1 to 2).
• J3.1, J3.3, J3.5: Moves 30° from C to D (t = 0 to 1), then D to C (t =
1 to 2).
• J3.2, J3.4, J3.6: Moves 30° from D to C (t = 0 to 1), then C to D (t =
1 to 2).
2) Case 2: Left Movement:

For leftward movement, we want a similar alternating pattern, but with

the J2 and J3 joints more involved in the lateral shift, while the J1 joints
remain in their positions as per the previous left-side movement request.

• J2.1, J2.3, J2.5: Moves 30° from C to D (t = 0 to 1), then D to

C (t = 1 to 2).
• J2.2, J2.4, J2.6: Moves 30° from D to C (t = 0 to 1), then C to
D (t = 1 to 2).

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 • J3.1, J3.3, J3.5: Moves 30° from C to D (t = 0 to 1), then D to
C (t = 1 to 2).
• J3.2, J3.4, J3.6: Moves 30° from D to C (t = 0 to 1), then C to
D (t = 1 to 2).
• J1.1, J1.2, J1.3, J1.4, J1.5, J1.6: Remains stationary.
3) Case 3: Right Movement:

For rightward movement, reverse the J2 and J3 joint patterns compared

to the left movement, while the J1 joints remain stationary as in left-side
control.

• J2.1, J2.3, J2.5: Moves 30° from D to C (t = 0 to 1), then C to

D (t = 1 to 2).
• J2.2, J2.4, J2.6: Moves 30° from C to D (t = 0 to 1), then D to
C (t = 1 to 2).
• J3.1, J3.3, J3.5: Moves 30° from D to C (t = 0 to 1), then C to
D (t = 1 to 2).
• J3.2, J3.4, J3.6: Moves 30° from C to D (t = 0 to 1), then D to
C (t = 1 to 2).
• J1.1, J1.2, J1.3, J1.4, J1.5, J1.6: Remains stationary.
4) Case 4: Backward Movement:

For backward movement, invert the original upward movement patterns

for the J1, J2, and J3 joints, ensuring opposite motions for backward
motion.

• J1.1, J1.3, J1.5: Moves 120° from B to A (t = 0 to 1), then A to

B (t = 1 to 2).
• J1.2, J1.4, J1.6: Moves 120° from A to B (t = 0 to 1), then B to
A (t = 1 to 2).
• J2.1, J2.3, J2.5: Moves 30° from D to C (t = 0 to 1), then C to
D (t = 1 to 2).
• J2.2, J2.4, J2.6: Moves 30° from C to D (t = 0 to 1), then D to
C (t = 1 to 2).

25
 • J3.1, J3.3, J3.5: Moves 30° from D to C (t = 0 to 1), then C to
D (t = 1 to 2).
• J3.2, J3.4, J3.6: Moves 30° from C to D (t = 0 to 1), then D to
C (t = 1 to 2).

These control patterns should provide smooth hexapod movement in all

directions, based on your joystick input. This cycle repeats continuously while the
joystick is held in relative directions.

26
3.2 Block Diagram:

3.2 a Block Diagram of Transmitter & Receiver of Metal Detection & Surveillance using Hexapod.

3.3 Description of Blocks:

i. Camera Module:
The camera module provides live video feed for surveillance purposes. It is
mounted on the hexapod robot and transmits visual data to the control system
via the Raspberry Pi Pico H. The camera is an essential component for remote
monitoring in various environments.

ii. A88 Metal Sensor:

The A88 metal sensor is responsible for detecting metallic objects, such as
landmines, during the robot’s operation. The sensor sends data to the Raspberry
Pi Pico H, which processes the detection signals. When metal is detected, an
alert signal is transmitted wirelessly to the control unit, and the LED indicator
on the control side lights up.

27
 iii. Raspberry Pi Pico H:
The Raspberry Pi Pico H is the central processing unit of the hexapod robot. It
receives input from the metal sensor and camera module and manages the
movement of the servos connected to the hexapod’s legs. It communicates
wirelessly with the control unit via the NRF24L01 module.

iv. NRF24L01 (Robot Side):

The NRF24L01 on the robot side enables wireless communication with the
control unit. It transmits sensor data and camera feed to the control side and
receives movement commands from the joysticks.

v. PCA9685 Servo Motor Controllers:

Two PCA9685 boards are used to control the 20 servos responsible for the
movement of the hexapod's legs. Each board controls 10 servos, and they are
chained together to coordinate the precise movements required for walking,
turning, and stepping over obstacles.

vi. Servo Motors (20):

The hexapod robot is equipped with 20 servo motors, 18 of which are used for
leg movement (3 per leg), and the remaining 2 are for controlling the camera
module's pan and tilt functionality. These servos receive PWM signals from the
PCA9685 boards to execute smooth, coordinated leg motions.

vii. NRF24L01 (Control Side):

The NRF24L01 on the control side communicates with its counterpart on the
robot, sending joystick commands and receiving feedback such as metal
detection alerts and live camera feed. It allows for remote control of the robot
from a safe distance.

viii. ATmega328P Microcontroller:

The ATmega328P microcontroller serves as the processing unit for the control
system. It processes input from the two joysticks, transmitting movement
commands to the robot via the NRF24L01 module. It also handles feedback
from the robot, including camera feed and metal detection signals.
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ix. Joysticks 1 & 2:
Two joysticks are used to manually control the hexapod's movement:
• Joystick 1 controls the forward, backward, and turning movements of
the robot.
• Joystick 2 controls additional functions such as camera pan/tilt and fine-
tuning of leg movements.

x. Display (Live Surveillance):

The display unit shows the live surveillance feed captured by the camera module
on the robot. It allows the operator to remotely observe the environment and
make navigation decisions based on real-time visuals.

xi. LED (Metal Detection Indicator):

An LED on the control unit lights up when the metal sensor on the robot detects
metallic objects. This visual indicator helps the operator quickly identify when
the robot has detected a potential threat.

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 4. SYSTEM DESIGN

4.1 Design & Circuit Diagram:

4.1.1 Design:

4.1.1 a Top View of 3D Model Design.

4.1.1 b Side View of 3D Model Design.

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4.1.2 Circuit diagram:

4.1.2 a Detailed Circuit Diagram of Receiver.

4.1.2 b Detailed Circuit Diagram of Transmitter.

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4.2 Simulation Results

4.2.1 Wokwi Simulation Result:

4.2.1 a Simulation Result of an odd & an even leg.

The Wokwi simulation is designed to test the movement of the hexapod robot’s
individual legs. In this simulation, we focus on the motion of two legs: one odd-
numbered leg (i.e., leg 1, 3 & 5) and one even-numbered leg (i.e., leg 2, 4 & 6). Each
leg consists of three joints, J1, J2, and J3, controlled by servo motors connected to a
PCA9685 servo driver board.

For leg 1 (an odd-numbered leg), J1 moves from 0° to 180° and back, simulating
forward and backward leg motion. J2 and J3 help the leg lift and place, creating a
realistic walking motion. Similarly, for leg 2 (an even-numbered leg), J1 moves in the
opposite direction from 180° to 0°, while J2 and J3 synchronize with leg 1 to create
coordinated movement.

This simulation helps visualize the precise movements of these two legs,
ensuring that the servos operate in unison and that the robot’s walking pattern is
accurate.

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 4.2.2 MATLAB PWM Simulation:

4.2.1 b PWM Output of One Leg.

The figure illustrates the PWM (Pulse Width Modulation) signals for three
joints, J1, J2, and J3, of a hexapod robot over a 2-second time period. Each plot
represents the varying PWM output required to control the respective servo motors for
joint movement.

• PWM Signal for Joint J1 (Top graph): The PWM signal fluctuates
significantly, indicating rapid changes in the servo motor's position. The signal
increases sharply from 0 to around 0.5 seconds, stabilizing at a higher value
before tapering off after 1.5 seconds, signifying the joint's movement pattern.

• PWM Signal for Joint J2 (Middle graph): This graph demonstrates a more
uniform PWM variation compared to J1. The output gradually increases and
decreases, indicating smoother transitions in servo control for this joint,
possibly representing a more fluid motion.

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 • PWM Signal for Joint J3 (Bottom graph): The PWM signal for J3 shows
sharper and frequent fluctuations compared to J2. This behaviour suggests that
J3 experiences more rapid changes in position, similar to J1, but with less
stability during the middle of the time period.

Overall, these graphs help in understanding how the PWM signals are
modulated to control the movement and positioning of the hexapod robot's joints,
ensuring precise control of each joint during operation.

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 5. ADVANTAGES & APPLICATIONS
5.1 Advantages

1. Flexibility: Hexapod robots are more flexible than other robots, making them suitable
for applications that require a high degree of accuracy and precision.

2. Multipurpose Applications: Suitable for military, industrial, disaster response,

archaeology, and environmental surveillance.

3. Adaptability to Harsh Environments: Designed to function in extreme conditions,

including high or low temperatures, toxic areas, or high-radiation zones, making them
suitable for hazardous environments like nuclear plants.

4. Payload Flexibility: integrate various sensors like cameras, radiation detectors, and
metal detectors.

5. Precision in Movement: Each leg’s movement is precisely controlled, making them

ideal for tasks requiring accuracy, such as payload placement or object manipulation.

6. Mobility and Terrain Adaptability: - With six legs, a hexapod robot is inherently
stable and can move over uneven, rough, or complex terrain where wheeled robots or
drones may struggle. This makes it ideal for landmine detection, searching in rugged
terrains, and surveillance in difficult-to-access locations.

7. Enhanced Security: Combining metal detection with surveillance provides a

comprehensive security solution allowing for both detection and visual monitoring of
potential threats.

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5.2 Applications

5.2.1 Security Applications of a Hexapod Robot: For a hexapod robot, its six-legged
structure offers enhanced mobility and stability, which can be highly advantageous for various
security applications. Here are the detailed security applications of a hexapod robot presented
in bullet points

i. Surveillance in Rough Terrains:

The hexapod's multi-legged design enables it to navigate uneven and complex
terrains such as rocky, muddy, or hilly areas, making it ideal for outdoor
surveillance in areas where wheeled robots may struggle. It can be deployed for
patrolling perimeters in remote or off-road locations, ensuring effective
monitoring.

ii. Search and Rescue Operations in Disaster Zones:

In emergencies like earthquakes, landslides, or collapsed buildings, a hexapod
robot can maneuver through debris and rubble to locate trapped individuals.
It can be equipped with sensors and cameras to detect survivors and hazardous
conditions without putting human rescuers at risk.

iii. Crowd Monitoring and Control:

Hexapod can be used in events, protests, or large gatherings to monitor crowd
behaviour, identifying potential threats or disturbances in real time. It can be
equipped with facial recognition, thermal imaging, or other advanced tools to
detect and alert authorities about suspicious activities.

iv. Monitoring Hazardous Environments:

In locations such as nuclear plants or chemical factories, the hexapod robot can
be used to inspect potentially dangerous environments where human presence
is risky. The robot can carry out tasks such as gas leak detection, radiation
monitoring, or structural integrity inspections.

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5.2.2 Applications of Hexapod Robots in Precision Farming:

i. Soil Health Monitoring and Analysis:

Hexapod robots equipped with soil sensors can measure various soil
parameters, such as moisture content, nutrient levels, pH, and
temperature, across large fields with pinpoint accuracy. By gathering
data at different locations in the field, the robot can create a detailed soil
health map, helping farmers identify areas that require specific
treatments like fertilization. They can also take soil samples from
different depths and areas, and analyse them. the soil conditions in real
time to optimize crop growth.

ii. Automated Planting and Seed Sowing:

Hexapod robots can be used to precisely plant seeds at optimal depths

and spacing, ensuring uniformity in crop planting. This results in better
crop establishment and maximizes the use of available land. Their
stability allows for planting in uneven or hilly terrains where traditional
tractors or machines might struggle. These robots can also be
programmed to adjust seeding rates based on soil fertility or other
environmental factors, optimizing seed use and improving yields.

iii. Precision Spraying of Fertilizers, Pesticides, and Herbicides:

Hexapods can carry out targeted spraying of fertilizers, pesticides, and

herbicides, applying them only to areas where they are needed, based on
real-time data collected by the robot's sensors. By avoiding blanket
applications, the robot helps reduce chemical use, lower costs, and
minimize environmental impact, such as water contamination and soil
degradation. Their ability to navigate between rows of plants allows
them to treat individual plants or clusters without damaging nearby
crops.

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5.2.3 Applications of a Hexapod Robot in Nuclear Facilities:

i. Surveillance in High-Risk Zones:

Hexapod robots can patrol high-risk zones such as reactor chambers,

containment buildings, or spent fuel storage areas to ensure that these
areas remain secure. They can be equipped with cameras, sensors, and
alarms to detect unauthorized access or suspicious activity in restricted
zones.

ii. Radiation Monitoring and Inspection:

Hexapod robots can be equipped with radiation detection sensors to

monitor radiation levels in real time, particularly in areas where human
workers cannot enter due to high radiation exposure. They can perform
regular inspections of reactors, cooling systems, and other sensitive
Areas ensuring that any radiation leaks or irregularities are detected
early.

iii. Detection of Toxic Gases and Chemicals:

Hexapods can be fitted with chemical sensors to detect the presence of

hazardous gases, chemicals, or vapours in real time, ensuring early
detection of leaks. These robots can monitor areas with high exposure
risks, such as storage tanks, pipelines, or processing units, providing
safety in highly toxic environments.

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5.2.4 Applications of Hexapod Robots in Rescue Operations:

i. Delivery of Emergency Supplies:

Hexapod robots can be used to transport essential supplies such as food,

water, first-aid kits, or rescue tools to areas that are difficult or
dangerous for humans to access immediately. They can operate in
extreme conditions, like extreme cold, heat, or even areas affected by
hazardous materials, where conventional methods of delivery would be
too risky.
ii. Rescue Operations in Mines or Underground Tunnels:

Hexapods can be deployed in mine collapses or underground tunnel

disasters, where the terrain is unstable and space is limited. Their ability
to navigate through small gaps and unstable surfaces makes them ideal
for locating miners or workers trapped underground.

iii. Assistance in Urban Search and Rescue (USAR):

In densely populated urban areas affected by disasters, such as

earthquakes or bomb explosions, hexapod robots can search for
survivors in collapsed buildings, tunnels, or subway systems ability to
crawl through narrow spaces allows them to access victims in tight areas
that would otherwise be inaccessible. In high-rise building rescues, they
can navigate staircases, broken floors, or other vertical surfaces, making
them ideal for urban rescue missions.

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5.2.5 Applications of Hexapod Robots in Landmine Detection:

i. Mine Detection Using Ground-Penetrating Radar (GPR):

Hexapod robots can be equipped with ground-penetrating radar (GPR)

systems to detect buried landmines by identifying anomalies beneath the
surface. GPR sensors can detect non-metallic and plastic mines that
traditional metal detectors might miss, making the hexapod robot more
effective in finding a wider variety of and landmine. By scanning the
ground as the robot moves, it can provide real-time data on the location
of mines, enabling precise mapping of hazardous areas.

ii. Multi-Sensor Integration for Enhanced Detection:

Hexapod robots can be equipped with a combination of sensors, such as

GPR, metal detectors, and chemical sensors, to create a multi-layered
detection system. This integration enhances their ability to detect
different types of mines and confirm the presence of suspected
landmines with high accuracy. Such a system reduces false positives and
ensures that areas declared as cleared are truly mine-free.

iii. Safe Navigation Over Hazardous Terrains:

Hexapod robots can move across rough, uneven, or mine-infested areas

that are inaccessible or too dangerous for humans or wheeled vehicles.
Their six-legged design distributes weight evenly, reducing ground
pressure, which minimizes the risk of detonating pressure-sensitive
landmines. These robots can traverse various landscapes, including
forests, deserts, or conflict-affected urban areas, making them versatile
in diverse environments.

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5.2.6 Applications of Hexapod Robots in Surveillance Systems

i. Monitoring of Sensitive Borders and Conflict Zones:

Hexapod robots can be deployed for surveillance along international

borders, demilitarized zones, or conflict-affected areas where human
patrolling is dangerous. They can traverse challenging landscapes like
deserts, forests, or mountain ranges, maintaining continuous
surveillance while minimizing the risk to personnel. Equipped with
long-range cameras, night-vision devices, and communication systems,
they can provide real-time footage and alert border or military forces to
potential threats.

ii. Night Surveillance Using Infrared and Thermal Imaging:

Hexapod robots equipped with infrared (IR) cameras or thermal imaging

sensors can conduct surveillance in low-light or nighttime conditions.
They can detect heat signatures from people, vehicles, or animals,
making them effective for nocturnal surveillance in areas such as
wildlife reserves, military bases, or high-security zones. Thermal
imaging is particularly useful for spotting hidden threats or individuals
trying to conceal themselves in dark environments.

iii. Autonomous Patrolling of Perimeter Security:

Hexapod robots can autonomously patrol perimeters of sensitive areas,

such as military bases, airports, government facilities, or large industrial
complexes. With GPS and onboard navigation systems, they can be
programmed to follow specific patrol routes, monitoring for
unauthorized intrusions, breaches, or suspicious activities. Equipped
with cameras, motion detectors, and infrared sensors, they can detect
movement or intruders, triggering alerts for security personnel.

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 6. PROJECT COMPLETION PLAN

6.1 Table of Estimated Project Completion Plan

Sr. Parameters Description Estimation

No.
1. Project Initialization Identification of objectives, July (2024)
deliverables, scope, etc.

2. Functional Analysis Analysis of the required August (2024)

components, including cost
and risk analysis.
3. Design Parameters Resource planning includes September -
mechanical design, October (2024)
detection system,
surveillance system design,
and so on.
4. Testing and Include component testing, November –
Validation PCB printing and testing, January (2024-25)
3D modelling, printing, and
overall system testing.
5. Project Closure Evaluation of project February (2025)
outcome and total
availability of model.

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6.2 Gantt Chart for Project Completion Plan

6.2.( i ) Gannt Chart.

43
 REFERENCES

[1] I. Brodoline, E. Sauvageot, S. Viollet & J. R. Serres, “Shaping the Energy Curves of a
Servomotor-Based Hexapod Robot”, May 2024.

[2] J. R. Serres, “Insect-Inspired Robots: Bridging Biological and Artificial Systems”,

November 2021.

[3] H. Morais, J. Santana, “Reinforcement Learning for Adaptive Hexapod Locomotion”,

2021.

[4] P. Lima, M. Silveira, “Design and Control of Hexapod Robots for Exploration”,
December 2021.

[5] T. Azayev, K. Zimmerman, “Blind Hexapod Locomotion in Complex Terrain”, March

2020.

[6] T. Lukose, V. Patil, “Raspberry-Pi Controlled Landmine Detecting Robot”, September

2020.

[7] Dinesh, V. Khokher, “A Review on Design and Analysis of a Hexapod”, November 2017.

[8] Singoee Sylvestre Sheshai, “Raspberry Pi-Based Security System”, 2016.

[9] Sheik Aftab Alli, “Design, Fabrication, and Analysis of a Hexapod”, 2015.

[10] Z.-Y. Wang, X.-L. Ding and A. Rovetta, “Locomotion Analysis of Hexapod Robot”,
March 2010.

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