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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.

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MechaDuck/Hexapod_Botolomaeus

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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

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

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

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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.

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