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Topic: programming walking gait for hexapod (solved) (Read 4 times) previous topic - next topic

exapod

Feb 02, 2012, 05:20 pm Last Edit: Feb 04, 2012, 12:02 pm by exapod Reason: 1
i build this hexapod: http://letsmakerobots.com/node/29821 .But now i have some problem implementig an hexapod gait, the wave works fine but when i try the hexapod one it fall on the lower right leg (if you see the hexapod with the arduino near you).
i post a similar topic in the italian forum : http://arduino.cc/forum/index.php/topic,87328.0.html where you can read the code.
Can someone point me some hexapod gait resources or sample code?
Thank you for the help and sorry for my bad english.


zoomkat

Consider the daffodil. And while you're doing that, I'll be over here, looking through your stuff.   8)

JasonK

I would suspect a forward gate would be something like this (sudo code):

give legs lay out of:
3  6
2  5
1  4

raise legs 1, 3, 5
move legs 1, 3, 5 "forward" & legs 2, 4, 6 "backwards"
lower legs 1, 3, 5
raise legs 2, 4, 6
move legs 1, 3, 5 "backwards" & legs 2, 4, 6 "forward"
lower legs 2, 4, 6
repeat

Graynomad

Maybe you should ask over at the SoR forum

http://www.societyofrobots.com/robotforum/index.php

IIRC there is a program to do this, I think you tell it the gate you want and it generates code or some such. The SoR guys would know.

______
Rob
Rob Gray aka the GRAYnomad www.robgray.com

exapod

Thank you JansonK i resolved the problem, i was moving the legs 1, 3, 5 "forward" and legs 2, 4, 6 "backwards" in two separate step, now i put together the two action and it walks without any problem.
Thank you all for the help

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