Design of Hexapod Robot Movement Controller Based on AT89S52

Based on 2 inter-timers of AT89S52 and multi-rudder time slicing control method,a movement controller was designed, which could drive 12 rudders to coordinately work.According to typical walking gaits of hexapod robot, it was realized that movement of the hexapod robot accords with the gait layout. Testing result verified reliability and correctness of the designed scheme.