We are a group of students from Gdańsk University of Technology. Our goal is to create a 6 legged spider robot or a "Hexapod" in short. Our current goals include the ability to traverse difficult terrain, remote control via an android app. Multiple walking algorithms are going to be implemented and tested. Hexapod capabilities planned for the future include autonomous walking with the ability to follow objects and people using neural networks and computer vision algorithms.
Our simulation stack uses ROS and Gazebo, with Python for gait planning. The physical Hexapod is controlled by an ESP32, and all structural components are designed for 3D printing. For more information please visit our simulation repository: https://github.com/Siedmiu/Hexapod-Gazebo-Simulation
- Complete Mechanical construction.
- Preliminary simulation, ROS + Gazebo configured, single leg movement.
- Production of parts and electronics procurement.
- Hexapod assembly.
- Simulating planned walking gaits.
- Straight line walking tests.
- ROS and manual remote control.
- New Hexapod Design.
- Production of parts and electronics procurement.
- Straight line walking simulation tests.
- Hexapod assembly.
- Full walk gait implementation.
- Tests and performance measurement.
- Finished project documentation.
Ubuntu 24.04 LTS, ROS Jazzy Jalisco, applicable Gazebo version
Complete documentation, setup instructions, and Docker files will be available upon full release.
This is a university-led project, and external contributions are not accepted until its conclusion.
Android application repository: https://github.com/Siedmiu/Hexapod-Android-Application
Gazebo, Ros and simulation repository: https://github.com/Siedmiu/Hexapod-ROS2-System