hexapedal robot code
Switch branches/tags
Nothing to show
Clone or download
Fetching latest commit…
Cannot retrieve the latest commit at this time.
Permalink
Type Name Latest commit message Commit time
Failed to load latest commit information.
LeggedBot
Prototypes
README.md
animated.gif

README.md

Sparky firmware

sparky gif

Arduino sketch + associated source files for running Sparky, the RHex-style hexapedal robot we designed for UC Berkeley's Introduction to Prototyping & Fabrication course.

Our code's made up of a few main components:

  • an open-loop gait controller for generating synchronized leg trajectories
  • six local joint controllers: these are simple PD loops w/ velocity feedforwards
  • a BLE interface for sending status information & receiving twist commands
  • a set of dynamically configurable settings which can be pushed to & pulled from the EEPROM (this is primarily for control loop tuning on the fly)

Demo video and relevant repositories:


Potential features for the future:

  • gait optimization based on accelerometer data (already supported by hardware -- for inclines, flip scenarios, etc)
  • smarter leg control implementation
  • quantitatively calculated leg trajectory parameters (speeds are currently preset)
  • ROS support

Made possible by: