Im new to the forum (which is brill by the way) and I would like to
introduce my Hexapod… Heximotional
This started as a final year project at Uni to create a control
algorithm for a 3DOF Hexapod, which included Forward kinematics
(6DOF or body orientation, 3DOF for locomotion) and Inverse
kinematics (determine each legs orientation). Since finishing the
project I have been writing an App for the iPhone or iPod Touch
capable of not only being the controller interface for the user but
also able to run the control algorithm. To my knowledge making it
the first robot to use an iPhone as its brain. Here is the first video
Before I had the iPhone App working the control algorithm ran on
my laptop, which made it possible to use a PlayStation Sixaxis
controller
Really nice! I especially like the way the quadruped walks without losing its balance. It would be great to see your complete parts list and more detailed pictures if you have them.
The wireless link has been the hardest part to get working, due to iPhone not supporting serial bluetooth communication without paying lots of money, the App emitts its commands over Wifi. I have been trying to use a WiFly GSX (sparkfun.com/commerce/produc … ts_id=9333) in Ad-Hoc mode to create a Wifi network for the iPhone to connect too. But until the wifi is working I am using a laptop to turn the Wifi to bluetooth. Which means currently there is a BlueSMiRF bluetooth modem aboard the hexapod.
Parts List
18x MG995 Hi-Speed & Torque M Metal Gear RC Servos (student budget not enough for hitecs )
SSC-32 Servo Controller
BlueSMiRF Bluetooth Modem
2x 3300mAh NiMh Batteries
MSR Robotics Pan/Tilt Head
2.4G Wireless Camera
Lynxmotion Servo Brackets for the hips
The body is made from High Density PVC Foam
And the legs were rapid prototyped for me at my University
I have a few Images of the Quad,
The Servo controller is mounted below the batteries in the caverty in the base.
This shows the body plates of the hexapod to give a size comparisson
I have just finished writing a couple of Android apps that allow computer-less
control of the hexapod. Either Controlled directly over bluetooth from an Android
device or by using the Android device to convert the iPhones Wifi signal to bluetooth.
The legs were designed using AutoCad and were then rapid prototyped for me at my University.