https://github.com/MechaDuck/Hexapod_Botolomaeus

University Project: Design of a six-legged Hexapod with 3 DoF at each leg. Communication and control implementation on an Arduino 2560.
https://github.com/MechaDuck/Hexapod_Botolomaeus

arduino dynamixel dynamixel-servos hexapod mechanics

Last synced: 3 days ago
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University Project: Design of a six-legged Hexapod with 3 DoF at each leg. Communication and control implementation on an Arduino 2560.

• Host: GitHub
• URL: https://github.com/MechaDuck/Hexapod_Botolomaeus
• Owner: MechaDuck
• Created: 2018-05-15T16:37:17.000Z (over 6 years ago)
• Default Branch: master
• Last Pushed: 2024-07-17T09:00:32.000Z (5 months ago)
• Last Synced: 2024-08-29T18:32:28.600Z (4 months ago)
• Topics: arduino, dynamixel, dynamixel-servos, hexapod, mechanics
• Language: C++
• Homepage:
• Size: 1.4 MB
• Stars: 20
• Watchers: 3
• Forks: 4
• Open Issues: 0
• Metadata Files:
  • Readme: README.md

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README

        
# Hexapod Botolomaeus

## Description

Project in collaboration of five students to successfully design and develop a six-legged robot (Hexapod), controllable through an Android device. 

## Video

[![Hexapod Botolomaeus Video](https://img.youtube.com/vi/FhSNV5rlMkg/0.jpg)](https://www.youtube.com/watch?v=FhSNV5rlMkg "Hexapod Botolomaeus Video")

## Version

v1.0.0

All basic functions are implemented. Robot can be controlled by an android device. It can move in X, Y direction and rotate around the Z axis.

## Hardware Specification

Hardware that is being used:

-Dynamixel AX-18A (http://emanual.robotis.com/docs/en/dxl/ax/ax-18a/)  

-Arduino 2560

## Additional Software Requirements

### Additionally Files

Servo_EEPROM_INIT/Servo_EEPROM_INIT.ino  -->File is used for the very first initialization of the servos e.g. setting ID's.   

### Libraries needed 

https://github.com/ThingType/AX-12A-servo-library

## Architecture

Rough class structure from 16.06.2018

![class_diagram](class_diagram.PNG)

## Team References

Team member:   

Hardware design and manufacturing:   

    Jan Homann, Joel Seelinger, Sameer Al-Qadasi   

Software design and implementation:   

    Tomislav Romic, Philine Stark, Henri Hildebrand