Mithi's Hexapod Robot Simulator
- A bare minimum browser-based hexapod robot simulator built from first principles
🕷️ - If you like this project, consider buying me a few
☕ cups of coffee.💕
Announcement
- Check out my rewrite in Javascript
- Now live at: https://hexapod.netlify.app/
- It's like 10000000x faster!
Features
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| STATUS | FEATURE | DESCRIPTION |
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| 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 |
Preview
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Requirements
- Python 3.8.1
- Plotly Dash 1.10.0
- Plotly Dash Daq 0.4.0
- Numpy 1.18.1
- See also ./requirements.txt
Run
$ python index.py
Running on http://127.0.0.1:8050/- Modify default settings with ./settings.py
- Dark Mode is the default - modify page styles with ./style_settings.py
⚠️ Known Issues
Screenshots
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Conventions and Algorithms
- Definitions
- The Inverse Kinematics Algorithm used for this project
- How to find the orientation of the hexapod with respect to the ground given we know all the orientations of the six legs with respect to the robot's body.
- Algorithm 1 when we know which of the three points of each leg could contact the ground
- Algorithm 2 when we don't know which of points of which legs could be in contact with the ground
- How to make the hexapod step on the correct target ground contacts
- How to determine if the hexapod should twist and by how much
Notes
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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.
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This implementation uses matrices, NOT quaternions. I'm aware that quaternions is far superior in every single way. In the (un)forseeable future, maybe?
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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.
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Don't be mean!
🤗 Contributors
