I hope you all enjoyed the video! Make sure to subscribe so that you don't miss future videos and other content, and check out my Patreon page if you'd like to support me and my projects. www.patreon.com/StewartTechnologies
That has to feel so incredibly satisfying when all 6 legs pass that initial check! Awesome project, and I'm glad you're sticking with it. I'm wondering if it would make sense to put a spring on the femurs such that it uses more energy to raise the legs, but less energy to stand still or push down. I'm no engineer, but I would think that would result in a significant savings in energy as the hexapod is constantly draining the batteries just to stand still.
It really is satisfying! And that might work, I may have to redesign the leg if I implemented a spring though so I'll keep that idea in reserve if I have any issues with the current design.
Doesn't the Arduino Mega have enough I/O pins to directly control the servos? I'm a fan of the Parallax Propeller microcontroller and I used a Propeller Quickstart board to control 22 servos on my hexapod. Four of the servos controlled the eyes. I'm presently trying to upgrade my hexapod to use the Propeller 2 microcontroller. I ran out of RAM with the original Propeller and I'm hoping I can use the extra RAM and extra computing power of the Propeller 2 to male my hexapod better. If you get a chance, I'm hoping you'll take a look at my hexapod. I think it's my channel's trailer. I'm looking forward to watching your progress. Thanks for sharing your work with us. It's always fun to see other people's robots.
Hello, my name is João Pedro Almeida. I'm from IEEE RAS CIMATEC in Brazil. We are developing a hexapode robot using ROS Humble embedded in a beaglebone board and the same servo motors you are using. We are following the development of your hexapode and we really like the CAD done. Could you make the modeling available in the description of your youtube video and if possible the source code as well?
This project is glorious and really gives me the right direction to follow for my project. You using MG996R gives me hope that I can reduce my project budget :D. Could I know what battery options should be considered to power up this hexapod?
Right now I'm testing things out with a 5200mah 3S Lipo with a SBEC to drop the voltage down to 6V. The next video will go over the setup in more detail.
I've been watching a bunch of hexapod videos lately and I'm here from your first part (the legs) I want to try making hexapods too but I don't have any experience with electronics and stuff at all, so I'm pretty lost how should I get started?
Most servo motors have their own motor driver inside along with an encoder wired together for closed-loop control. To control a servo you only need power and a control signal (typically PWM). That's why I use a servo driver since it can produce multiple control signals simultaneously. Depending on the servo you might be able to get away with controlling it directly with a microcontroller, no driver needed. Motor drivers are typically for DC motors only.
If you only have a small number of servos then you could power them externally and use the PWM pins on your microcontroller to control them. No need for an external controller!
Here's what I'm using for IK for mine (python): if(y_negate): y *= -1 theta1 = math.atan2(y, x) # calculate the distance from the origin to the point (x, y, z) d = math.sqrt(x**2 + y**2 + z**2) # calculate the angle between the line from the origin to the point (x, y, z) and the line from the origin to the point (x, y, 0) alpha = math.acos(z/d) # calculate the angle between the line from the origin to the point (x, y, 0) and the line from the origin to the point (x, y, length0) beta = math.acos(length0/d) # calculate the angle between the line from the origin to the point (x, y, length0) and the line from the origin to the point (x, y, length0 + length1) gamma = math.acos((length1**2 + d**2 - length2**2)/(2 * length1 * d)) # calculate the angle between the line from the origin to the point (x, y, length0) and the line from the origin to the point (x, y, length0 + length1 + length2) epsilon = math.acos((length1**2 + length2**2 - d**2)/(2 * length1 * length2)) # calculate the angle between the line from the origin to the point (x, y, length0) and the line from the origin to the point (x, y, length0 + length1 + length2) theta2 = math.pi - alpha - beta - gamma theta3 = math.pi - epsilon return [theta1, theta2, theta3]
Depending on the Arduino it certainly could. You'll likely need something with lots of pins like an Arduino Mega. If you need more processing power you could offload stuff to a stronger MCU.
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I hope you all enjoyed the video! Make sure to subscribe so that you don't miss future videos and other content, and check out my Patreon page if you'd like to support me and my projects. www.patreon.com/StewartTechnologies
Hey man, please keep going! It’s a cool project!
That has to feel so incredibly satisfying when all 6 legs pass that initial check! Awesome project, and I'm glad you're sticking with it. I'm wondering if it would make sense to put a spring on the femurs such that it uses more energy to raise the legs, but less energy to stand still or push down. I'm no engineer, but I would think that would result in a significant savings in energy as the hexapod is constantly draining the batteries just to stand still.
It really is satisfying! And that might work, I may have to redesign the leg if I implemented a spring though so I'll keep that idea in reserve if I have any issues with the current design.
Great stuff! Hexapods will always have a special spot in my heart.
GREAT EFFORT
Kind of a weirder question, but where do you get your screws and threaded inserts
Fantastic work! Loving the series man
awesome channel, really
awesooome
Doesn't the Arduino Mega have enough I/O pins to directly control the servos?
I'm a fan of the Parallax Propeller microcontroller and I used a Propeller Quickstart board to control 22 servos on my hexapod. Four of the servos controlled the eyes.
I'm presently trying to upgrade my hexapod to use the Propeller 2 microcontroller. I ran out of RAM with the original Propeller and I'm hoping I can use the extra RAM and extra computing power of the Propeller 2 to male my hexapod better.
If you get a chance, I'm hoping you'll take a look at my hexapod. I think it's my channel's trailer.
I'm looking forward to watching your progress. Thanks for sharing your work with us. It's always fun to see other people's robots.
Thank you for the video even though you can’t see this.
Very nice ! Good job ! I’m trying to make one too 😅
Hey awesome video! I’m looking forward to seeing more. Just curious. What 3D printer are you using and would you recommend it for a beginner hobbyist
Hello, my name is João Pedro Almeida. I'm from IEEE RAS CIMATEC in Brazil. We are developing a hexapode robot using ROS Humble embedded in a beaglebone board and the same servo motors you are using. We are following the development of your hexapode and we really like the CAD done. Could you make the modeling available in the description of your youtube video and if possible the source code as well?
Olá amigo, você conseguiu o código?
Great work! can you please share the 3d design files
amazing
Impressive stuff :)
Is the STL available for these parts? I really like the design.
This was so cool, is there any way you could share the code you used?
This project is glorious and really gives me the right direction to follow for my project. You using MG996R gives me hope that I can reduce my project budget :D. Could I know what battery options should be considered to power up this hexapod?
Right now I'm testing things out with a 5200mah 3S Lipo with a SBEC to drop the voltage down to 6V. The next video will go over the setup in more detail.
I've been watching a bunch of hexapod videos lately and I'm here from your first part (the legs)
I want to try making hexapods too but I don't have any experience with electronics and stuff at all, so I'm pretty lost
how should I get started?
Awesome! Interesting too, question? Is it possible to use a motor driver too instead of a servos driver? Plus the motor driver says for robotic too.
Most servo motors have their own motor driver inside along with an encoder wired together for closed-loop control. To control a servo you only need power and a control signal (typically PWM).
That's why I use a servo driver since it can produce multiple control signals simultaneously. Depending on the servo you might be able to get away with controlling it directly with a microcontroller, no driver needed. Motor drivers are typically for DC motors only.
@@StewartTechnologiesthank you for the advice. Actually the servos I’ll be using is just the ones you have as we’ll.
If you only have a small number of servos then you could power them externally and use the PWM pins on your microcontroller to control them. No need for an external controller!
@@StewartTechnologies thank you so much I appreciate it. Last question? Sorry! Is it possible to control it with Bluetooth too?
Yup, you just need a bluetooth module to interface your microcontroller with OR a microcontroller with built in bluetooth support like an ESP32.
Here's what I'm using for IK for mine (python):
if(y_negate):
y *= -1
theta1 = math.atan2(y, x)
# calculate the distance from the origin to the point (x, y, z)
d = math.sqrt(x**2 + y**2 + z**2)
# calculate the angle between the line from the origin to the point (x, y, z) and the line from the origin to the point (x, y, 0)
alpha = math.acos(z/d)
# calculate the angle between the line from the origin to the point (x, y, 0) and the line from the origin to the point (x, y, length0)
beta = math.acos(length0/d)
# calculate the angle between the line from the origin to the point (x, y, length0) and the line from the origin to the point (x, y, length0 + length1)
gamma = math.acos((length1**2 + d**2 - length2**2)/(2 * length1 * d))
# calculate the angle between the line from the origin to the point (x, y, length0) and the line from the origin to the point (x, y, length0 + length1 + length2)
epsilon = math.acos((length1**2 + length2**2 - d**2)/(2 * length1 * length2))
# calculate the angle between the line from the origin to the point (x, y, length0) and the line from the origin to the point (x, y, length0 + length1 + length2)
theta2 = math.pi - alpha - beta - gamma
theta3 = math.pi - epsilon
return [theta1, theta2, theta3]
hello,how can i get the solidworks step
I’m planning on doing a decapod with arduino mega. Do you think it’s possible for it to handle ?
Depending on the Arduino it certainly could. You'll likely need something with lots of pins like an Arduino Mega. If you need more processing power you could offload stuff to a stronger MCU.
Can you provide circuit diagram
Ohh... Have you any plan on continuing uploading videos of this project?
Yup. Moving a bit slow on my end but new videos are still coming!
@@StewartTechnologies good to know that Stewart!!! ... Is there any chance you talk about power autonomy in future videos...?
Hola, me podrías compartir el diseño 3D porfavor ? 😅😢😢 Te lo agradecería mucho
Hey can you provide 3d stl file it is fun to make this robot for my nephew
where i can find the 3D parts file cuz i wanna build this for my university projects
how d i resize it to sg90 servo
Is it possible to use Arduino uno?
Yup, although I'm planning on using a Raspberry Pi Pico instead.
@@StewartTechnologies when will you upload the next part?
Any github linke where i can find the stl files of this structure
Do you offer the stl files?
Can I get the Solidworks file if I follow you on Patreon? Nice work btw.
Once I'm further along with this project I might release the files on GitHub like I did with the robot arm project.
Hi, do You have this great project in open source? On thingiverse or other site?
Not at the moment, it'll be posted on Github and maybe Printables.com once finished though.
No new content :( sad
CAN YOU SHARE THE CODE FILES FOR THE LEG ?? PLEASE I NEED THIS FOR MY COLLEGE PROJECT
Spider-Bot...
Spider-bot
Has the potential that a spider got
☝️ p̾r̾o̾m̾o̾s̾m̾