Phoenix Hexapod

This repository contains software for Phoenix Hexapod robot.

Short video is available on YouTube.

It uses B2F4A library to manage hardware.

Hardware

• Phoenix Hexapod Kit
• Arduino Due board powered by SAM3X8E MCU
• 18x DS3218 PRO motors
• 2x PCA9685 PWM/Servo Driver boards to control motors
• 2x ACS7125A (5A) current sensors, connected to MCU's ADC ports
• 2x relay modules
• PlayStation2 Controller
• MPU9150 MotionTracking board

Implemented Features

• Forward kinematics
• Inverse kinematic solvers
  • Algebraic
  • Geometric
  • Numerical (Gradient Descent and Levenberg-Marquardt)
• Gait transition (fixed step)

Current Development

• Body trajectry control by the PlayStation/2 controller
• Use of Max-Plus linear system to implement free gait

Notes

There are some notes about use of things. They was done to don't forgot key features, even if they not implemented in robot.

They are written on Russian, I hope Google Translator can translate them to your language.

• Unit Hopf CPG (Central Pattern Generator)