A hexapod robot simulator built from first principles
The developer of this repository has not created any items for sale yet. Need a bug fixed? Help with integration? A different license? Create a request here:
| | | | | |---------|---------|---------|---------| |||||
| 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 |
||| |----|----| | | |
$ python index.py Running on http://127.0.0.1:8050/
| | |---| | |
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.