Hexapod short demo

This is a short demo of my IK engine for my hexapod robot.

The robot kit is a MSR-01 from micromagic systems, servos are 12x HiTec HS-645MG for femur and tibia, coxa servos are HS-225MG.

As a controller board, I used a Digilent Spartan 3 Starter Kit FPGA board with a Xilinx Spartan 3S200 FPGA, a megabyte RAM and some additinal periphery.

The main CPU is the 25 MHz MIPS compatible Plasma soft-CPU core from opencores.org programmed using a standard GCC/binutils/newlib toolchain. Servos are controlled via a 32 channel PWM generator I wrote in VHDL, PWM registers are memory mapped.

The funny sound in the background is my gf playing Patapon 2 on the PSP. =)

Category:

People & Blogs

Tags:

• hexapod
• robot
• fpga

[mbori]

pata pata pata PON

[ArabSlasher]

this is so shit

[themastershadowx]

great; congratulations, one question what do you mzan by pwm 32channels;

does it mean that you use A/D converter 32 bits ot control duty cycle?

[HectorUch123]

Very good, really very good!

[intterror]

excellent!

[Tremorian]

Extreme nice bot and good firmware!

Hope to see it in action with some sensors in future.