Hexapod project

[Zenta]

Congratz with your Master degree!

Would also be interesting to see it walk on uneven terrain also

[john-harper]

This is very cool! Congrats on your masters.

Can you tell us anything about how your foot sensors work? This is something I have thought about a lot and don't have a great solution to. At one point I was thinking of converting the servos to use Open Servo and then monitoring the force on each servo. It's a lot of work though and not without its own issues. Your cantilevered feet look like a very neat solution. How are the actual force sensors done?

John

[d00kIe]

Thank you John!

The foot sensor is just a micro-switch which is released when the foot is on the ground; the switches are connected to invertors which are connected to the interupt ports of the processor. The idea came from Matt`s foot sensor design on his V4 hexapod.

Matt`s design(much better quality):


mine design(hand-made):


Dimitar