Phoenix Hexapod

This repository contains software for Phoenix Hexapod robot.

Short video is available on YouTube.

It uses B2F4A library to manage hardware and CGK for geometric computations.

Hardware

• Phoenix Hexapod Kit
• WeAct BlackPill with STM32F401 (Cortex-M4 @84 MHz)
• 18x DS3218 PRO motors
• 2x PCA9685 PWM/Servo Driver boards to control motors
• 2x relay modules
• PlayStation2 Controller

Software can work on Arduino Due (ATSAM3X8E, Cortex-M3 @84 MHz), however, it doesn't suppot hardware floating point operations and not enough to achieve desired performance of used algoriphms.

Implemented Features

• Forward kinematics
• Inverse kinematic solvers
  • Algebraic
  • Geometric
  • Numerical (Gradient Descent and Levenberg-Marquardt)
• Gait transition (fixed step)
• Body trajectry control by the PlayStation/2 controller
• Free gait genrator for crab movement and turns

Current Development

• Use of Max-Plus linear system to implement free gait

Notes

There are some notes about use of things. They was done to don't forgot key features, even if they not implemented in robot.

They are written on Russian, I hope Google Translator can translate them to your language.

• Unit Hopf CPG (Central Pattern Generator)