Need help with hexapod-robot-simulator?
Click the “chat” button below for chat support from the developer who created it, or find similar developers for support.

About the developer

614 Stars 85 Forks MIT License 472 Commits 8 Opened issues


A hexapod robot simulator built from first principles

Services available


Need anything else?

Contributors list

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

Mithi's Hexapod Robot Simulator

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


You might be interested in checking out my rewrite in Javascript, live at: , which is like 10000000x faster. If you'd like to build you're own user interface with Node, you can download the algorithm alone as a package in the npm registry: Hexapod Kinematics Library. There is also a "fork" modified where you can use the app to control a physical hexapod robot as you can see in the gif below.



| STATUS | FEATURE | DESCRIPTION | |---|-----------|--------------| | 🎉 | Forward Kinematics | Given the angles of each joint, what does the robot look like?| | 🎉 | 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? | | 🎉 | Uniform Movements | If all of the legs behaved the same way, how will the hexapod robot as a whole behave? | | 🎉 | Customizability | Set the dimensions and shape of the robot's body and legs. (6 parameters) | | 🎉 | Usability | Control the camera view, pan, tilt, zoom, whatever. | | 🎉 | 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 1.18.1
  • [x] Plotly Dash Daq 0.5.0
  • [x] Numpy 1.19.5
  • [x] See also ./requirements.txt


$ python
Running on


| Kinematics| |---| | IK|

More Information

Check the Wiki for more additional information

🤗 Contributors

We use cookies. If you continue to browse the site, you agree to the use of cookies. For more information on our use of cookies please see our Privacy Policy.