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All Projects → MechaDuck → HexapodHDA

MechaDuck / HexapodHDA

Licence: other
University Project: Design of a six-legged Hexapod with 3 DoF at each leg. Communication and control implementation on an Arduino 2560.

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arduinohexapoddynamixelmechanicsdynamixel-servos

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HexapodHDA

v1.0.0 All basic functions are implemented. Robot can be controlled by an android device. It can move in X, Y direction and rotate around the Z axis.

Hardware that is being used:

-Dynamixel AX-18A (http://emanual.robotis.com/docs/en/dxl/ax/ax-18a/)
-Arduino 2560

Additionally Files:
Servo_EEPROM_INIT/Servo_EEPROM_INIT.ino -->File is used for the very first initialization of the servos e.g. setting ID's.

Libraries needed:
https://github.com/ThingType/AX-12A-servo-library

Main Files:
Rough class structure from 16.06.2018

alt text

Team member:
Hardware design and manufacturing:
Jan Homann, Joel Seelinger, Sameer Al-Qadasi
Software design and implementation:
Tomislav Romic, Philine Stark, Henri Hildebrand

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