Make 1

Inspired by Smallp Tsai’s hexapod v2.1 video

Drawings

used a raspberry pi zero sized board
has an IMU
24 dof
control software written in python using numpy, scipy, servo controller library.
4dof legs -> no analytical solution for inverse kinematics. Implemented an iterative method for 4dof leg IK solution. Also can use an optimizer from scipy.optimize.
basics of the endeffector position based control algorithm code in this jupyter notebook
power system is janky - sometimes when the servos draw too much power at once, the sbc reboots.
learned to use Fusion360 to design parts needed using a 3D printer.
parts:
- banana pi zero
- 7x buck converter
- GY210 IMU
- 2s lipo
- 24x towerpro MG90B servos
- 2x 12ch pwm controller board
one buck converter provides 5v to the sbc
the servo controller boards get power from sbc
four servos (one leg) get power from one buck converter
sbc, servo controller boards, and the IMU talk through i2c