Analysis of Stabilization Control in a Hexapod Robot: An Approach Utilizing MPU6050 and Kalman Filtering

This paper presents a stabilization control system for the Freenove Big Hexapod robot, aimed at enhancing locomotion on uneven terrains. The system integrates an MPU6050 sensor for motion tracking, a Kalman filter to reduce sensor noise, and a PD controller to compensate for roll and pitch deviations. Designed for real-time operation, the system dynamically adjusts the robot’s posture to maintain stability during movement. Experimental validation was conducted on a custom-built inclined platform simulating various terrain conditions, demonstrating the system’s ability to reduce instability and maintain balance under moderate inclinations. While effective within specific limits, the results highlight areas for future improvement, including adaptive control techniques for handling steeper and more variable terrains. The proposed approach underscores the potential of stability-focused control systems in advancing robotic locomotion in complex environments.