Hexapod robot open project for Raspberry Pi
Project devoted to build customized home six-legged robot driving by Raspberry Pi platform in pythonic way. Key purpose is to explore robotic pipelines and design a functional home bot that can assist with some daily tasks. Design assumes integration of a bunch of sensors to control the robot's movements and interactions with its environment.
Base frame assembly, component list and protocols description
Models of extension mounting frames for peripherals and power supply
Communication between RPi and peripherals
Pipeline for leg kinematics and walk sequences
Convert raw sensor measurements to internal grid map. keep track of position while moving
Pipeline that fuse movement kinematics with localization data using path finding algorithms to perform movement tasks
(WIP)
- Assumes using indoor. Localization tested only in close areas
- Key features designed to distribute some complex calculations on local machine
- Current scope is just a sandbox for testing base functional tasks, still in progress