Six legged crawler

This hexapod was sent to us on the tipline from [Jamie]. If you want to take the six-legged robot a bit farther than our earlier posts, here and here, this is the hexapod for you. The structural pieces were modeled, and cut out of 3mm thick plywood using CNC. He used TO-220 transistor nylon isolation mounts for the bearings, and bolts and locknuts at each joints. The main body houses eight servos, six for the legs and two for a camera head pan and tilt. There are another six servos, one for each leg, to lift the feet. The whole thing is controlled by an Atmel AT90S8515 clocked at 8 Mhz. The code was compiled using WinAVR free GCC GNU-C. He uses a PlayStation controller to help debug the walk cycles, and change parameters as needed. Watch a video after the jump.

6 thoughts on “Six legged crawler

  1. Not sure about your comment “If you want to take the six-legged robot a bit farther than our earlier posts”

    This hexapod has 2-DOF per leg – the “dancing” robot had 3-DOF. The extra degree of freedom allows much more complicated (and lifelike) motion.

    This 2-DOF robot therefore is easier to get started with, and of course cheaper.

  2. Where is the power source?

    batteries or from the controller cable?

    how long does it run?

    A cool wireless hack would be making it bluetooth controlled…

Leave a Reply

Fill in your details below or click an icon to log in:

WordPress.com Logo

You are commenting using your WordPress.com account. Log Out / Change )

Twitter picture

You are commenting using your Twitter account. Log Out / Change )

Facebook photo

You are commenting using your Facebook account. Log Out / Change )

Google+ photo

You are commenting using your Google+ account. Log Out / Change )

Connecting to %s