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Hexapod Robot: Reference Design

The Hexapod robot was designed to evaluate the efficacy of a Q-learning algorithm and explore the ability of learned-walking, using only leg mobility and a reward mechanism to move forward. It has a custom PIC18F4550* USB board for motor control, inverse kinematics, foot contact sensors for terrain adaptation, and 3D balance gestures.


  • Fit-PC2 embedded platform
  • Ubuntu* 9.04 operating system
  • Robotis AX-12, RX-10, and RX-28* servo motors


Processor Intel® Atom™ processor Z530
Chipset Intel® System Controller Hub US15W
Memory DDR2-533 1 GB
Display and graphics Intel® Graphics Media Accelerator 500
Storage Internal bay for 2.5” serial ATA hard drive
MiniSD socket
I/O Six hi-speed USB 2.0
LAN 1000BASE-T Ethernet
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Hexapod Robot Reference Design Documentation

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