https://github.com/mithi/hexapod-kinematics-library

Code you can use to solve forward / inverse kinematics and generate walk sequences of hexapod robots
https://github.com/mithi/hexapod-kinematics-library

hexapod hexapod-robot javascript robot robotics

Last synced: about 1 month ago
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Code you can use to solve forward / inverse kinematics and generate walk sequences of hexapod robots

• Host: GitHub
• URL: https://github.com/mithi/hexapod-kinematics-library
• Owner: mithi
• License: apache-2.0
• Created: 2020-12-28T22:06:13.000Z (over 4 years ago)
• Default Branch: main
• Last Pushed: 2020-12-31T11:44:24.000Z (over 4 years ago)
• Last Synced: 2025-04-05T15:05:07.520Z (about 2 months ago)
• Topics: hexapod, hexapod-robot, javascript, robot, robotics
• Language: JavaScript
• Homepage:
• Size: 463 KB
• Stars: 48
• Watchers: 2
• Forks: 6
• Open Issues: 1
• Metadata Files:
  • Readme: README.md
  • License: LICENSE

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# Hexapod Kinematics Library



    



Code you can use to solve forward/inverse kinematics and generate walk sequences of hexapod robots. The codebase is largely copied from [Mithi's Bare Minimum Hexapod Robot Simulator 2](https://github.com/mithi/hexapod). [![Commit snapshot](https://img.shields.io/badge/commit%20snapshot-467d1a3b9-orange.svg?color=purple)](https://github.com/mithi/hexapod/tree/467d1a3b92dabd0304c7ef4675d64179f82efb69/src/hexapod)

Docs are written in the files themselves:

-   [`VirtualHexapod`](./src/VirtualHexapod.js)

-   [`getWalkSequence`](./src/solvers/walkSequenceSolver.js)

-   [`solveInverseKinematics`](./src/solvers/ik/hexapodSolver.js)

You can also inspect the [test directory](https://github.com/mithi/hexapod-kinematics-library/tree/main/tests) to see examples of how to use.

## Contributing [![PRs welcome!](https://img.shields.io/badge/PRs-welcome-orange.svg?style=flat)](https://github.com/mithi/mithi/wiki/Contributing)

Please read the [contributing guidelines](https://github.com/mithi/mithi/wiki/Contributing) and the recommended [commit style guide](https://github.com/mithi/mithi/wiki/Commit-style-guide)! Thanks!