My Uni hexapod project is complete - the mechanical side and interface electronics are all in place hooked up to the PC, and a basic engine is running a simple looping set of movments, not very sophisticated but there is simple inverse kinematics running to set the "foot" position. Im wondering if anyone has any ideas (Matt?!) as to how to approach the rest of the engine - I gather some sort of vector based system combined with rotations around a central frame covers the range of movments needed, though im really unsure as to what to takle first!

Cheers in advance for any ideas!

Alex.

Never mind! Have figured it all out my self as it wasnt nearly as complex as I had figured.

Hi Alex,

Sorry have been very busy lately and missed this post! Glad you figured it out for yourself though, look forward to seeing it in action. Any pictures or video yet?

M@

No worries, its better I figured it out for my self, the brain needed a good old stretch! Its honestly nothing compared to anything you have made, although I plan to re-write the controller (and possibly make another hex now I know what to do) after this years exams are done and I have a little spare time and money! I will send/post a pic or video once I have tuned it all. I have to get some decent documentation anyway as its my final year project at Uni.