FEI - Hexapod Walking Robot





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Uploaded on May 31, 2008

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

-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!

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