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Author Topic: programming walking gait for hexapod (solved)  (Read 4311 times)
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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.

« Last Edit: February 04, 2012, 06:02:04 am by exapod » Logged

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Discussion that might have some info.

http://www.lynxmotion.net/viewtopic.php?f=20&t=6730
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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
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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.

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Rob
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Rob Gray aka the GRAYnomad www.robgray.com

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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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