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Aiming at the difficulties in motion control and performance analysis of hexapod robot, stm32 embedded processor is used to drive the 18-channel steering gear control board to control the robot's motion. CAM Shift algorithm is designed to track the centroid target of the moving robot and calculate the motion speed. The gait experiment and performance analysis of straight line and steering were carried out on the self-developed prototype. The results show that the design integrates the machine vision tracking technology and the motion control technology of the hexapod robot, which can realize the control and motion analysis functions.

Design of control system and motion analysis of vision capture for small hexapod robot