FEI - Hexapod Walking Robot

This is the prototype robot for my graduation project named: "Twenty Servo Control device".

It's not ready yet, we've got two weeks to improve it more and more.

This robot is the first hexapod walking robot prototype of FEI (São Bernardo do Campo - Brazil). We started buiding this prototype less then one year ago, and we're still working on it.

It's inverse kinematics is all caculated in MATLAB, and it's automation is all developed in a Xilinx FPGA chip.
It's modelling in MATLAB is completelly flexible: every parameter can be changed.
In the VHDL design the speed and gait can be changed as well.
It's servos work with a angle control with 11 bits resolution.
In this video, the robot is controlled by the PC keyboard via serial RS-232 communication.


Students of the project:
-Rafael "KP" Cappelleti - Electronics
---VHDL design
---Electric wiring design
-Cayo Andrade - Electronics
---VHDL design
---Radio control researching
-Luís Augusto Nunes - Mechanics
---Materials engineering on the acrylic glass, aluminum and carbon fiber parts;
---Mechanical design
-Hans Peter Schiffert - Mechatronichs (German interchange student)
---Mechanical design (Draw design of the very first version of the prototype)
-Thomas Bergamo - Mechanics
---Mechanical design (links and joiints of the prototype)
-Ana Carolina Sampaio - Electronics (As a graduation project)
---MATLAB design (calculus, projections, simulation and table generation)
---VHDL design
-Pedro Nazareth Pellacani - Electronics (As a graduation project)
---MATLAB design (calculus, projections, simulation and table generation)
---VHDL design
---Electric wiring design

Professors:
-Galba Falce de Almeida
-Heldai Lemos Ferreira
-Renato Giacomini

Special Thanks to some of the people from the FEI-Baja, Formula-FEI and Drummer Robot: YOU ROCK, GUYS! WE MAKE THE DIFFERENCE!

Category:

Education

Tags:

• hexapod
• robotics
• kinematics
• dinamics
• electronics
• programming
• vhdl
• fpga
• matlab
• insect
• spider
• six
• leg
• crawler
• engineering

[aerowenn]

Spartan-3 Nice :) double E here, soon as I have some time I am working out something similar with my S3 board. Great job!

[ppellacani]

@aerowenn I wish you good luck!!!

[NomadsFromSteppe]

@ppellacani

It is amazing and the good job was done!

Which books do I must read to have knowledhe and experience to perform the project? Which book is the best for me to do such project?

I do have some knowledge of the C programming language.

What is your major at your college? What is your college which you are currently enrolling???

[ppellacani]

@NomadsFromSteppe we're from FEI, Sao Bernardo do Campo, Brazil. You gotta study a lot phisics, kinematics and dynamics, and study a lot of eletronics! =)

We graduated in eletronic engineering.

Good Luck!!!

[robo3001]

use liFE battery at 6V/10A only 500gr

[aerowenn]

@ppellacani Thanks!

[NomadsFromSteppe]

It is amazing and the good job was done!

Which books do I must read to have knowledhe and experience to perform the project? Which book is the best for me to do such project?

I do have some knowledge of the C programming language.

What is your major at your college? What is your college which you are currently enrolling???

[ppellacani]

@TheYurry hahaha! where are you from, friend? I'm from Brazil =)

[TheYurry]

@ppellacani sry thouht i heared my native language and since FEI a technical university like 100 meters from my house i really thought you were from there