Heximotional

Heximotional is my Hexapod robot. This started as a final year project at university to create the control architecture for multilegged robots. The control architecture includes a kinematic model capable of controlling 3DOF legs in configurations including Quadrupeds, Hexapods, Octopods and Polypods.

To prove the theory I built heximotional. The control architecture ran on my laptop, taking user inputs from usb gamepads or PlayStation Sixaxis controllers (first and second videos respectively) and then sending control commands over bluetooth to the servo controller.

Since finishing the university work, I have been working on implementing the control architecture in an App for the iPhone or iPod Touch. The App uses the Touchscreen and the Accelerometers as user inputs, runs the control architecture and sends control commands over wifi for the servo controller.

I have just finished writing a couple of Android apps that allow computer-less
control of the hexapod. Either Controlled directly over bluetooth from an Android
device or by using the Android device to convert the iPhones Wifi signal to bluetooth. They can be seen in the latest video.