tianyilim / walkybot_code

Code for hexapod bot, deployed on a RPi.

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. 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.

walkybot_code's Issues

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