Hexapod POC

Synchronized Hexapod: Proof of Concept

This project has been an immensely rewarding experience, teaching me essential skills like curve parametrization, 3D transformations, and inverse kinematics.

An additional highlight was developing an NRF24-based transmitter and receiver, showcasing the versatility of wireless systems.

Demonstration Video

Watch the Heexapod in action:

Project Overview

This was a project testing the limits of a simple (single core) microcontroller. Some cool features implemented in this Hexaod are

• Roll, and pitch control of the hull.
• Default body height adjustment.
• Complete 2D walk velocity vector control.
• Ability to switch between different walking patterns(gaits).
• Maximum step size, and height control.
• Wirerless Communication with the operator

This project combines mechanical design, and software algorithms, to achieve full autonomy.

Technical Details

Hardware

• Body and Legs: Custom-3D printed from PLA.
• Controller: Arduino Nano.
• Servos: MG995 Servo (11 Kg-cm torque)(180deg max)

Software

• Programming Language: Embedded C
• Autonomy: Wireless Teleoperation, Using Shock-Burst Protocol, and NRF24L01 RF Module.

Gallery

Figure 1: POC

Figure 2: Remote Control

Figure 3: Insides

Figure 4: Test Setup

Source Code

The complete codebase and documentation are available on GitHub.

Acknowledgments

MySelf, Hardware Provided by IIT Dhanbad.

What’s Next?

I am currently working on a better hexapod. Since the arduino in to slow to handle the computational load, I will be using a raspberry-pi in the newer model. You can see the newer one in this post: Hexapod.