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OVERVIEWThis project aims to develop an hexapod robot capable of omni-directional locomotion and obstacle climbing.
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Hardware Specifications
Body ArchitectureThe hexapod robot features a circular base with legs placed in a radially symmetrical configuration for enhanced stability and maneuverability.
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Leg StructureThe hexapod's legs have three degrees of freedom (DoF) to control forward/backward motion and height independently, allowing for versatile locomotion.
For joints and actuators, high-torque MG996R servo motors are used for actuation, with servo mounts serving as joints. The motors are distributed among the coxa, femur, and tibia sections. |
ElectronicsThe robot is powered by a Raspberry Pi 3b+ microcontroller, offering computational power for real-time trajectory generation. PCA9685 motor drivers control the servos, and a high-current 5V power supply ensures sufficient power.
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Software Specifications
Leg KinematicsInverse kinematics calculations are employed to determine joint angles (l1, l2, and l3) needed to achieve a desired end effector position and orientation for the robot's legs.
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Trajectory Generator: The robot follows a predefined trajectory with phases and repeats the cycle consisting of lift-off, swing, touchdown, and stance for each leg during locomotion.
Gait Planning: A tripod gait is implemented, providing a balance between speed and stability for the hexapod. |
