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https://github.com/ggldnl/hexapod

Main repository for my hexapod robot
https://github.com/ggldnl/hexapod

gaits hexapod hexapod-robot robot

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Main repository for my hexapod robot

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README 

        
# The Hexapod Project 🤖



## ⚠️ Work in Progress



This project is actively under development. Features are being added, refined, and tested continuously.



## 🦾 Introduction



The Hexapod Robot Project aims to create a completely open source six-legged robotic platform. I've always been fascinated by this kind of robots and I wanted to explore and experiment with a hexapod but I found that, even with a lot of resources available out there, I could not find a comprehensive guide from start to finish that showed how to deal with the electronics, code, the underlying mathematical model and so on. A great example is [Make Your Pet's hexapod robot](https://www.makeyourpet.com/) (from which I took inspiration) which is very good, with a huge community, but with a closed source app that handles the inverse kinematics and the gait generation strategies. This project is my effort to democratize what I learned.



- **Software**: The software consists of two parts: a Controller and an Operator. The Controller does the heavy lifting, computing the inverse kinematics for each leg and the body, generating gait sequences, running machine learning/reinforcement learning models and so on; the commands required to set the computed joint values are then sent to the Operator for execution. 

- **Hardware**: I used a Raspberry Pi as Controller and a Servo2040 board as Operator. Other boards can potentially be used with proper adjustments to the code and configuration.



## 🔧 Repositories



The project is split into several repositories. Each repository focuses on a specific aspect of the robot:



1. **[Hexapod-Controller](https://github.com/ggldnl/Hexapod-Controller)**

   - Contains the software for Controller and everything related to it.

   - Responsible for high-level computations such as inverse kinematics and machine learning/reinforcement learning models execution.



2. **[Hexapod-Operator](https://github.com/ggldnl/Hexapod-Operator)**

   - Contains the software for the Operator and everything related to it.

   - Handles low-level servo control and communication with the Controller.

   - Contains details on the communication protocol I developed for the two boards to talk.



3. **[Hexapod-Simulation](https://github.com/ggldnl/Hexapod-Simulation)**

   - Implements a simulation environment using PyBullet.

   - Useful for testing gaits without requiring on the actual robot.



4. **[Hexapod-Hardware](https://github.com/ggldnl/Hexapod-Hardware)**

   - Includes 3D-printable files for constructing the hexapod body (and the link to the MakerWorld model page for print profiles).

   - Contains a Bill of Materials and assembly guides.



## 🎯 Goals



- Experiment with my robot and annotate everything I do.

- Offering detailed guides for replicating the project.

- Providing accessible resources for everyone to build their own hexapod robots.



## 🤝 Contribution



Feel free to contribute by opening issues or submitting pull requests.