M9X6: Autonomous Hexapod Robot for Landmine Detection and Hazardous Terrain Exploration
"Walking Where Humans Shouldn't."
Built by Dhyanesh Mukundhan
M9X6 is an autonomous hexapod robot designed to improve the safety and efficiency of landmine detection in hazardous environments. The robot features six legs with three degrees of freedom each, providing stable movement across rough terrain where wheeled robots may fail. To achieve accurate control, MG996R servo motors were modified to access internal potentiometer feedback, enabling real-time joint position monitoring. The system is powered by a Raspberry Pi and Raspberry Pi Pico microcontrollers, supported by LiDAR, IMU, and mine-detection sensors. A complete digital model was developed in Fusion 360 and converted into a ROS2-compatible URDF for simulation. Custom inverse kinematics algorithms were implemented to control all eighteen joints and simulate realistic movement in RViz. The robot can autonomously navigate dangerous areas, detect potential landmines, map their locations, and transmit data to operators, reducing human exposure to risk while improving the effectiveness of demining operations.