Hexapod Control

Main Directory, contains the movements and everything important.

Overview of the different files:

Hexapod Controller

Main file. Starts the node, adds the subscriber & publishers, initializes everything.

Details

• Main Loop

Gait

This module generates the feet position sequence used for walking for each leg individually.

Details

• Gait
  • Stance Phase
  • Swing Phase
  • Complete Motion
• Walking Patterns
  • Tripod Gait
• Code
  • Walking Straight
  • Walking Curves

Inverse Kinematics

Here is where the math works.

Inverse Kinematics takes the coordinates of a foot an translates it to servo angels, which are required to reach this target point.

There are several explanations of how the math works online, a quick web search can help here.

Motion Control

Manages the different states like “Standing”, “Walking”, “Standing up”, “Sitting down” etc.

Details

• Motion Loop
  • State: Unknown
  • State: Idle
  • State: Sitting
  • State: Standing_up
  • State: Standing
  • State: Walking
  • State: Sitting_down
  • Transmitting the Results
• Functions
  • Sit Down/Stand Up
  • Start & Stop Command
  • Stand/Walk Command
  • Update Velocity Command

Servo Driver

Takes the joint angles as input, translates them into servo positions. Packages these positions and forwards them to the servo motors through the Dynamixel SDK interface.