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Among various forms of developed robots, legged robots are often used to overcome problems that cannot be solved by wheeled robots. The often occurred problem while developing this typical robot is about the flexibility and efficiency of the robot movement. In addressing the problem, this research aimed to design and implement trajectory planning and inverse kinematics algorithms using hexapod robot platform with three degrees of freedom on each leg. The use of both algorithms’ models was to make the legged robots move smoother and easier to manage so that the robots would move according to the desired inputs. This research used smartphones as a support control system. By having 13 testing times with different angles, a perfectly moving robot corresponding to an input angle was amounted 31%, 54% for a moving robot with an offset angle below five degrees, and 15% for a robot moving with an offset angle above five degrees. Keywords—hexapod; inverse kinematics; trajectory planning

Designing and Implementing Trajectory Planning and Inverse Kinematics Algorithms using Hexapod Robot Platform