by mithi

A hexapod robot simulator built from first principles

543 Stars 69 Forks Last release: Not found MIT License 460 Commits 5 Releases

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Build Status codecov Code Climate HitCount License: MIT Code style: black PRs welcome! first-timers-only

Mithi's Hexapod Robot Simulator


  • Check out my rewrite in Javascript
  • Now live at: https://hexapod.netlify.app/
  • It's like 10000000x faster!


| | | | | |---------|---------|---------|---------| |Twisting turning and tilting|||Adjusting camera view|

| STATUS | FEATURE | DESCRIPTION | |---|-----------|--------------| | πŸŽ‰ | Forward Kinematics | Given the angles of each joint, what does the robot look like?| | πŸŽ‰ | Inverse Kinematics | What are the angles of each joint to make the robot look the way I want? Is it even possible? Why or why not? | | πŸŽ‰ | Uniform Movements | If all of the legs behaved the same way, how will the hexapod robot as a whole behave? | | πŸŽ‰ | Customizability | Set the dimensions and shape of the robot's body and legs. (6 parameters) | | πŸŽ‰ | Usability | Control the camera view, pan, tilt, zoom, whatever. | | πŸŽ‰ | Simplicity | Minimal dependencies. Depends solely on Numpy for calculations. Uses only Plotly Dash for plotting, Dash can be safely replaced if a better 3d plotting library is available. | | ❗ | Stability Check (WIP) | If we pose the robot in a particular way, will it fall over? | | ❗ | Fast | Okay, it's not as fast as I wanted, but when run locally, it's okay | | ❗ | Bug-free | Fine, right now there's still room for improvement | | ❗ | Well-tested | Yeah, I need to compile test cases first |


|image|image| |----|----| | image | image |


  • [x] Python 3.8.1
  • [x] Plotly Dash 1.10.0
  • [x] Plotly Dash Daq 0.4.0
  • [x] Numpy 1.18.1
  • [x] See also ./requirements.txt


$ python index.py
Running on

⚠️ Known Issues


| Kinematics| |---| | IK|

Conventions and Algorithms


  • Now live on https://hexapod-robot-simulator.herokuapp.com ! BUT (and a big one) I highly suggest that you run it locally. When run locally, it's pretty speedy! On the other hand, the link above is barely usable.

  • This implementation uses matrices, NOT quaternions. I'm aware that quaternions is far superior in every single way. In the (un)forseeable future, maybe?

  • Honestly, my Inverse Kinematics algorithm and orientation algorithm is just something I came up with based on what I remember back in college plus browsing through the Mathematics Stack Exchange. It's just the most intuitive that I can think of. If you want something closer to the state-of-the-art, maybe checkout Unity's Fast IK or ROS IKFast.

  • Don't be mean! Contributor Covenant

πŸ€— Contributors

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