SpiderBot

A terrain-capable, vision-guided hexapod robot that carries payloads, tracks objects, and navigates autonomously — built with Raspberry Pi 5, Coral USB, STM32, and ROS2.

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🧠 Features

• 🤖 3DOF Hexapod – 18-DOF servo system (35KG torque), 5kg payload capacity
• 🧭 Autonomous Locomotion – ROS2-based gait generation, terrain-ready
• 🛠️ Modular Frame – Custom-designed in SolidWorks, 3D-printed and torque-optimized
• 🧠 AI Vision – YOLOv5n object detection accelerated with Coral USB
• 🧩 Multi-Processor System – STM32/ESP32 for real-time servo control, Pi for high-level ROS2 tasks
• 🌐 Sensor Fusion – Optional IMU + Lidar integration for navigation

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🧰 Tech Stack

• Languages: Python 3.9+, C/C++
• Middleware: ROS2 Humble, micro-ROS, UART
• AI: YOLOv5n (TFLite quantized), Coral USB Accelerator, OpenCV
• Microcontrollers: STM32 (Nucleo), ESP32
• Hardware: Raspberry Pi 5, 35KG Serial Bus Servos, IMU, USB Camera
• Mechanical Design: SolidWorks (frame, servo mounts)
• Power: 3S LiPo Battery, UBEC, XT60 harness
• Tools: VS Code, PlatformIO, Git, RViz2

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📁 Repo Structure

SpiderBot/
├── ros2_ws/              # ROS2 workspace
│   └── src/
│       └── hexapod_control/
│           ├── launch/
│           ├── hexapod_control/
│           │   ├── gait_node.py
│           │   ├── imu_node.py
│           │   └── serial_bridge.py
├── vision/               # Coral USB AI detection
│   ├── detect.py
│   └── tflite_model/
├── firmware/             # STM32 gait control code
│   └── main.c
├── solidworks/           # CAD source files
├── utils/                # UART & helper tools
├── README.md
└── requirements.txt

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🚀 Quick Start

1. Flash STM32 with main.c (via STM32CubeIDE or PlatformIO)
2. Build and source ROS2 workspace:

cd ros2_ws && colcon build
source install/setup.bash
ros2 launch hexapod_control bringup.launch.py

3. Run object detection:

python3 vision/detect.py

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📜 License

This project is licensed under the MIT License.