Development of a low-cost hexapod robot mobility aid for people with visual impairment

This work presents a hexapod assistant robot that is designed to enhance the autonomy of people with visual impairment. Our primary objective was to create a modular, accessible, and low-cost robotic platform that serves as a technological alternative to traditional guiding methods, removing economic barriers and expanding access to independent mobility through the use of digital manufacturing technologies.

The mechanical design was modeled in 3D and manufactured using additive manufacturing in PLA. The system consists of six limbs with three degrees of freedom each, driven by 18 MG996R servomotors. The control architecture employs two ESP32 microcontrollers communicating via the ESP-NOW wireless protocol, enabling interaction between the robot and an ergonomic control unit. Inverse kinematics algorithms were implemented for leg movement, alongside a tripod gait pattern to optimize stability. The system incorporates ultrasonic sensors for autonomous obstacle avoidance and a custom-designed PCB that ensures a stable power supply, preventing voltage drops and system resets.

Tests conducted in controlled environments demonstrated the robot's ability to navigate autonomously and avoid collisions. The power system design successfully mitigated voltage spikes, allowing for smooth and continuous operation during navigation trials.

The results validate the technical feasibility of the prototype as a mobility assistant. Despite limitations in leg traction or sensor precision, the design lays the foundation for future applications in personal guidance, as well as rescue tasks or industrial inspection in irregular terrains.