hexapodrobot.com

by **Matt Denton** » Wed May 21, 2008 10:51 pm

I have only ever built one quad, and this was some time ago, I think it must have been about 2002. The quad is built from and old V2 hex chassis with the rear end cut off

. I did get the little critter running, but unfortunately never videoed it

.

by **paulp** » Wed May 21, 2008 11:15 pm

It looks sweet...

I should imagine the gait would be a swine. Keeping the Centre of Gravity within a Tripod would make for some interesting balance work.

by **Matt Denton** » Thu May 22, 2008 7:29 am

paulp wrote:It looks sweet...

I should imagine the gait would be a swine. Keeping the Centre of Gravity within a Tripod would make for some interesting balance work.

Exactly that!... shift body move leg.. shift body move leg.. made for a very interesting gait.

by **paulp** » Thu May 22, 2008 1:03 pm

Less servo's, lighter, less demand on P.C. and serial link. Simpler gait as well, Could be an interesting proposition.

by **Demmo** » Wed Jun 18, 2008 6:12 am

Hi,
finally I have some time to visit this forum 8-)

I can't wait to finish my project for diploma and to start my own quaruped - and finally I could not only talking about it but creating it as well

I will post any progress in this section...

by **NicholasLee** » Fri Aug 22, 2008 3:25 pm

Here is a picture of my quadruped robot, which is the size of a large dog.

It has 12 degrees of freedom. Each leg is a seperate sub-system with a PIC cmicrocontroller controlling the PWM for the 3 motors in each LEG.

Each motor+gearbox drives a joint with a potentiometer in it. The microcontrollers use ADCs to measure the potentiometer voltages to measure the joint-angles.
Instructions sent to the microcontrollers then cause them to servo the joints to the desired positions using tuned P-I-D loops.

The gait is just the basic dynamically-stable alternating tripod gait.

Regards,
Nicholas Lee

-------------------------------------------------------------------
EurIng Nicholas Lee BSc(Hons) CEng MIET MInstMC
Consultant Engineer

by **Matt Denton** » Fri Aug 22, 2008 4:58 pm

Hi Nicholas, welcome to the forum!

Looks like a great quad you've built there! you should start a new thread within this section and tell us more about the project, pictures.. video?

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