Related Experiment Video
Updated: Jun 10, 2026
11:53
The Modular Design and Production of an Intelligent Robot Based on a Closed-Loop Control Strategy
Published on: October 14, 2017
SPINDER: an open-source 18-DoF hexapod robot with hierarchical central pattern generator control and analytic inverse
Abderraouf Maoudj1, Azhar Aulia Saputra2, Brahim Brahmi3
1Interdisciplinary Research Center for Intelligent Manufacturing and Robotics (IRC-IMR), King Fahd University of Petroleum & Minerals (KFUPM), Dhahran, 31261, Saudi Arabia. abderraouf.maoudj@kfupm.edu.sa.
Scientific Reports
|June 8, 2026
Summary
SPINDER, a compact hexapod robot, enables reproducible bio-inspired locomotion research. This robot achieves stable, adaptable gaits and navigates uneven terrain, with all designs and software to be released.
Area of Science:
- Robotics
- Bio-inspired Engineering
- Locomotion Research
Background:
- Developing versatile robotic platforms is crucial for advancing bio-inspired locomotion studies.
- Existing hexapod robots often lack the integrated sensing and real-time control needed for complex gait generation and terrain adaptation.
Purpose of the Study:
- To present SPINDER, a novel 18-Degrees of Freedom (DoF) hexapod robot platform.
- To enable reproducible research in bio-inspired locomotion through a comprehensive and open-source design.
Main Methods:
- Integrated sensors (depth camera, IMU, contact switches) and distributed computation (single-board computer, microcontroller).
- Developed a closed-form inverse kinematics solver for the yaw-pitch-pitch leg configuration, addressing workspace feasibility and singularities.
- Implemented a locomotion controller combining a central pattern generator with local motion controllers for gait coordination and trajectory generation.
Main Results:
- Demonstrated stable tripod, ripple, and wave gaits with omnidirectional control and smooth online transitions.
- Achieved successful traversal of structured uneven terrain (18 mm height variation) with a 100% completion rate.
- Exhibited mean body-pitch deviation below 5 degrees during terrain traversal.
Conclusions:
- SPINDER is a capable platform for bio-inspired locomotion research, offering stable and adaptable locomotion.
- The robot's design facilitates reproducible research through its integrated systems and open-source release.
- The demonstrated capabilities highlight the potential for advancing legged robot locomotion in complex environments.
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