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Topic: programming walking gait for hexapod (solved) (Read 9988 times) previous topic - next topic


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.


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Why I like my 2005 Rio Yellow Honda S2000  https://www.youtube.com/watch?v=pWjMvrkUqX0


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


Maybe you should ask over at the SoR forum


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 Gray aka the GRAYnomad www.robgray.com


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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