Zennir Youcef2024-10-092024-10-092024-06-302992-054Xhttp://dspace.univ-skikda.dz:4000/handle/123456789/2594The hexapod walking robot serves as a versatile mobile platform, adept at navigating challenging terrains owing to its stable leg-based locomotion. Demonstrating high stability in both static and dynamic states, it effectively traverses terrains with obstacles. In this paper, we propose a method for obstacle avoidance utilizing proximity sensors, integrated with an Intelligent Walking Algorithm (IWA) for locomotion control, and a tripod gait algorithm for walking. Our simulations were conducted using the CoppeliaSim simulator with the Python interface. The results were highly satisfactory, as the robot consistently avoided obstacles with a remarkable combination of stability and precision.enArticle