MorpHex Ground Exploration Robot (MGER) MKI

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The Morphex Ground Exploration Robot MKI (MGER MKI), inspired by Kåre Halvorson's MorpHex project, is a hexapod robot that can transform from six legs to a sphere for versatile terrain navigation. The design involved custom frames, arms, shields and parts based on images from www.robotpark.com/academy. Off-the-shelf Lynx Motion parts were used for the legs with SSC-32 servo-controller CAD model from www.lynxmotion.com/s-5-ses-3d-models.aspx for electronic compatibility. The 3D printable or manufacturable parts can be a starting point for real-life development, but bearings must be sourced for prototyping. Future improvements include denser shield designs, scalability, gyroscope orientation detection, additional sensor hardware, and an exploration end effector arm. Michael Meng plans to use simulation software like Gazebo in ROS to develop movement controls and sensors.