Hexapod Robot Navigation Using FPGA Based Controller

Conference paper
Part of the Lecture Notes in Networks and Systems book series (LNNS, volume 76)


In order to improve efficiency and achieve higher performance, motor control mechanism on a robotic platform realized by microcontroller-based system last time is changing with the reconfigurable hardware platforms. This paper presents the field programmable gate array (FPGA) implementation of the hexapod robot navigation using the tripod gate sequence. The servo motor controller is implemented in the Cyclone IV FPGA chip by Altera using Verilog as Hardware Description Language (HDL). The implementation of the servomotor controller in FPGA has several advantages as circuit design flexibility and parallel command executions when compared to the conventional microcontroller-based system. Particular advances introduced in this field have impact on motor control design of multiple-output requirements as well as parallel co-work of multiple robotic platforms in different applications in scope of the Industry 4.0.


FPGA Hardware Description Language (HDL) Hexapod robot navigation Verilog 


  1. 1.
    Na, S.Y., Shin, D., Kim, J.Y., Baek, S.-J., Lee, B.-H.: Pipelines monitoring system using bio-mimetic robots. Int. J. Comput. Inf. Eng. 3(1), 23–29 (2009)Google Scholar
  2. 2.
    Ranjan, V.: Biomimetic Robotics: Mechanisms and Control. Cambridge University Press, New York (2009)zbMATHGoogle Scholar
  3. 3.
    Quinn, R.D., Nelson, G.M., Bachmann, R.J., Kingsley, D.A., Offi, J.T., Ritzmann, R.E.: Insect design for improves robot mobility. In: Berns, K., Dillmann, R. (eds.) From Biology to Industrial Applications, pp. 69–76. Professional Engineering Publishing Limited, UK (2001)Google Scholar
  4. 4.
    Watson, R.: Raspberry Pi powers this walking robot that can either run autonomously or be controlled by a smartphone (2017).
  5. 5.
    Guo, Y.: An Abstract of Hexapod gait planning and Obstacle avoidance algorithm, Master of Science Degree in Mechanical Engineering, The University of Toledo (2016)Google Scholar
  6. 6.
    Kern, M., Woo, P.-Y.: Implementation of a hexapod mobile robot with a fuzzy controller. Robotica 23, 681–688 (2005)CrossRefGoogle Scholar
  7. 7.
    Zak, M., Rozman, J., Zboril, F.: Overview of bio-inspired control mechanisms for hexapod robot. Int. J. Comput. Inf. Syst. Industr. Manag. Appl. 8, 125–134 (2016). ISSN 2150-7988Google Scholar
  8. 8.
    McKenna, M., Wilamowski, B.M.: Implementing a fuzzy system on a field programmable gate array. In: International Joint Conference on Neural Networks, IJCNN 2001, Washington, DC, vol. 1, pp. 189–194 (2001)Google Scholar
  9. 9.
    Soon, C.-Y.: FPGA-based hexapod robot controller, Bachelor Degree of Electronic Engineering (Computer Engineering), Universiti Teknikal Malaysia, Melaka (2016)Google Scholar
  10. 10.
    Ahmed, A., Henrey, M., Bloch, P.: A miniature legged hexapod robot controlled by a FPGA. Int. J. Mech. Eng. Mechatron. 1(2), 1–6 (2013)Google Scholar
  11. 11.
    Aguilar, L.M., Tores, J.P., Jimenes, C.R., Cabrera, D.R.: Balance of a hexapod in real time using a FPGA. In: 2015 CHILEAN Conference on Electrical, Electronics Engineering, Information and Communication Technologies (CHILECON) (2015)Google Scholar
  12. 12.
    Reichenbach, M., Schmidt, M., Pfundt, B., Fey, D.: A new virtual hardware laboratory for remote FPGA experiments on real hardware. In: Proceedings of the 2011 International Conference on E-learning, E-business, Enterprise Information System E-Government (EEE), pp. 17–23 (2011)Google Scholar
  13. 13.
    Jakimovski, B.: Biologically Inspired Approaches for Locomotion, Anomaly Detection and Reconfiguration for Walking Robots. Springer, Berlin (2011)CrossRefGoogle Scholar

Copyright information

© Springer Nature Switzerland AG 2020

Authors and Affiliations

  1. 1.Faculty of Electrical EngineeringUniversity of TuzlaTuzlaBosnia and Herzegovina
  2. 2.DCCS GmbHTuzlaBosnia and Herzegovina
  3. 3.MBT BHTuzlaBosnia and Herzegovina

Personalised recommendations