walkybot
Programs and drivers for a Hexapod
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. Thehexapod
class defines motions for a a 6-legged hexapod, which then useshex_leg
objects for each individual leg, and subsequentlyleg_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:
- Battery Level, current consumption
- Controller inputs
- Accelerometer artificial horizon
- Selected gait
The input for the direction of the robot will be controlled by a USB Xbox-360 controller, via the Python
inputs
module.