C ++ based inverse kinematics solver and algorithm for static positioning, walking sequence and adaptability of hexapod robot, with support for PWM based servo driver

Features

• Convert cartesian coordinates of each leg tips to 3DOF servo angle.
• Convert servo angle into PWM (+ calibration feature)
• Move forward / backward
• Rotate clockwise / counter clockwise
• Shift left / right
• Turn left / right
• Adjustable speed
• Adjustable robot height
• Adjustable step span
• Adjustable leg span
• Rotation at X / Y / Z axis

Getting Started

Download and copy this repository to your modules folder or just clone this repository as a git submodule.

git submodule add https://github.com/Arsfiqball/linkspider.git submodules/linkspider

Read the Definitions and API Documentation for detailed usage.

Run Tests

g++ -o test test.cpp
./test

Related Research

• LinkSpider: Single Leg Simulation for Evaluation
• LinkSpider: Posture Simulation for Evaluation

References

• Hexapod Inverse Kinematics Equations by Toglefritz
• Hexapod Inverse Kinematics Simulator (Spreadsheet) by Toglefritz
• Inverse dan Body Kinematics pada Robot Hexapod Journal by Indra Agustian Kurniawan, Feriyonika, and Sabar Pramono at Politeknik Negeri Bandung
• Hexapod Simulation (Python) by Mithi Sevilla
• Hexapod Simulation (JavaScript) by Mithi Sevilla
• Tirtapod Leg Simulation v1 by Iqbal Mohammad Abdul Ghoni
• Tirtapod-X by Iqbal Mohammad Abdul Ghoni