/walkybot_code

Code for hexapod bot, deployed on a RPi.

Primary LanguagePython

walkybot

Programs and drivers for a Hexapod Image of robot

Inverse Kinematics

  • Leg and Body IK is implemented here based on material from https://oscarliang.com/inverse-kinematics-implementation-hexapod-robots/.
  • hexapod.py defines classes that describe a hexapod. The hexapod class defines motions for a a 6-legged hexapod, which then uses hex_leg objects for each individual leg, and subsequently leg_joint objects for each individual servo.

Currently, a testbench for RC remote control is implemented with the RC_test.py file running on the Rpi, and the remote_control.py file running on the host PC (with a gamepad connected).

Future Extensions

  • Negative feedback with accelerometer data
  • Dynamic gait selection based on input speed

GCS to Robot communications

  • Create a GUI for robot data:
  1. Battery Level, current consumption
  2. Controller inputs
  3. Accelerometer artificial horizon
  4. Selected gait The input for the direction of the robot will be controlled by a USB Xbox-360 controller, via the Python inputs module.