| Path | Contents |
|---|---|
hexapod.jpg |
The photograph the top-level README shows |
Hexapod-IKMath.pdf |
The inverse-kinematics derivation for this geometry |
The maths behind software/Hexapod/Leg.cpp, worked through for this robot's link lengths
and mounting angles: from a target foot position in body coordinates, to coxa, femur and
tibia angles.
Leg.cpp follows the approach in Jakob Leander's
tutorial; this document carries it through for the
dimensions in mechanics/, which is what makes the constants in the code readable rather
than magic.
software/IKMath/ is the runnable companion - the same Leg and MathUtilities, with no
robot attached.