An Arduino-based four-legged robot.
All parts were ordered from Lynxmotion (SKU in parentheses).
- Lynxmotion Tibias 4.25" (ASBT-02)
- Lynxmotion Aluminum "C" Servo Brackets with Ball Bearings (ASB-09)
- Lynxmotion Aluminum Multi-Purpose Servo Brackets (ASB-04)
- Hitec HS-485HB servos with Metal Servo Horns (SCD-01)
- Quadrapod Body Kit - Mini (QBK-01)
- Aluminum "L" Connector Brackets (ASB-06)
- BotBoarduino (BBU-01)
- 6.0 Volt Ni-MH 2800mAh Battery Pack (BAT-05)
- Wiring Harness (WH-01)
Robot firmware is written in C for the Arduino-based BotBoarduino board and uses a custom Makefile to link, compile and upload the firmware. All robot movements were first simulated in software, then translated into C from Python.
Inverse kinematics simulation in 3D, using Python, PyGTK and PyOpenGL. Simulator dependencies:
- Python 2.6+ (http://www.python.org/)
- PyGTK 2.24 (http://www.pygtk.org/index.html)
- PyOpenGL (http://pyopengl.sourceforge.net/)
- Python bindings for GtkGLExt (https://projects.gnome.org/gtkglext/download.html#pygtkglext)
- NumPy (http://www.numpy.org/)
- http://en.wikipedia.org/wiki/Forward_kinematics
- http://en.wikipedia.org/wiki/Inverse_kinematics
- http://en.wikipedia.org/wiki/Denavit%E2%80%93Hartenberg_parameters
- Industrial Robotics: Theory, Modelling and Control (specifically, chapter on forward and inverse kinematics) http://www.intechopen.com/books/industrial_robotics_theory_modelling_and_control
- http://robotics.usc.edu/~aatrash/cs545/Lecture8.pdf