Hexapod robot designed at the Robotics and Neural Systems Laboratory (RNSL) at the University of Arizona.
The hexapod is using Robotis AX-12, RX-10, and RX-28 servo motors. The controller is a Fit-PC2 with Intel Atom Z530 Processor computer running Ubuntu 9.04, with a custom PIC18F4550 based USB board to pipe motor control protocol.
This is a demonstration of the new leg design which is much more solid than the previous design. Also, new 3D balance gestures have been included based on a spring model. Balance gestures are shown both turned on and off for comparison.
The gray plastic was designed in Solidworks, and was created using a Dimension BST 1200es 3D printer.
Inverse kinematics is used with a dynamic walking gait. The dynamics still need work to be smoother and faster. The legs are not calibrated perfectly either, which can be seen when a foot occasionally lifts up.
Currently the robot has foot contact sensors which will be used in the future for terrain adaptation. Three AX-12 motors will be used to control a camera with 3DOF.
