Check out my 3D printed, 18 servo, Self balancing Hexapod.
 |
I'm 15 years old and this is my hexapod project I have been working on for the past year, I learned a ton from it. Here are its specs: -Build: Mostly 3D printed, I used a model from Aecert Robotics from youtube, I made some changes and improvements to the model such as the femur joints that connect to the servos. -Parts: 24 channel Pololu maestro board, 11.4v lipo battery, 12x25kg servos, and 6x35kg servos (for the femur joints because they're under the most load). Cheap android phone for the controller and gyroscope, and a DROK buck converter. -Software: I made a custom android app for the controller that connects via wifi or hotspot, you scan a QR code and it opens the controller on your phone. I used inverse kinematic equations for the hexapod so it has complete control over the leg and body movement. -Stabilizing: Using the gyroscope from the phone it can also self stabilize, it can even walk and self stabilize at the same time. -Walking gait: There are 5 walking gaits so far: Tripod, ripple, wave, triple, and a custom one I made to look like a spider. -I'm currently working on a high precision robot arm and I would love some feedback: About 4ft long and hopefully can lift around 5lb. I should have some videos soon. If you want to learn more about the hexapod or the arm you can see them at my portfolio. submitted by /u/Safe_Tone1529 |
