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Mithi's Hexapod Robot Simulator
- A bare minimum browser-based hexapod robot simulator built from first principles
️ - If you like this project, consider buying me a few
:coffee: cups of coffee .:two_hearts:
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Forward Kinematics | Given the angles of each joint, what does the robot look like? |
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Inverse Kinematics | What are the angles of each joint to make the robot look the way I want? Is it even possible? Why or why not? |
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Uniform Movements | If all of the legs behaved the same way, how will the hexapod robot as a whole behave? |
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Customizability | Set the dimensions and shape of the robot's body and legs. (6 parameters) |
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Usability | Control the camera view, pan, tilt, zoom, whatever. |
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Simplicity | Minimal dependencies. Depends solely on Numpy for calculations. Uses only Plotly Dash for plotting, Dash can be safely replaced if a better 3d plotting library is available. |
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Stability Check (WIP) | If we pose the robot in a particular way, will it fall over? |
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Fast | Okay, it's not as fast as I wanted, but when run locally, it's okay |
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Bug-free | Fine, right now there's still room for improvement |
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Well-tested | Yeah, I need to compile test cases first |
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Preview
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Requirements
- Python 3.8.1
- Plotly Dash 1.10.0
- Plotly Dash Daq 0.4.0
- Numpy 1.18.1
- See also ./requirements.txt
Run
$ python index.py Running on http://127.0.0.1:8050/
- Modify default settings with ./settings.py
- Dark Mode is the default - modify page styles with ./style_settings.py
:warning:
Known Issues
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:exclamation: Priorities -
:exclamation: Help Wanted -
:exclamation: Bugs -
:exclamation: All
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Conventions and Algorithms
- Definitions
- The Inverse Kinematics Algorithm used for this project
- How to find the ground contact points, tilt, and height of the hexapod
- How to make the hexapod step on the correct target ground contacts
- How to determine if the hexapod should twist and by how much
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Screenshots
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Notes
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:exclamation: Now live on https://hexapod-robot-simulator.herokuapp.com ! BUT (and a big one) I highly suggest that you run it locally. When run locally, it's pretty speedy! On the other hand, the link above is barely usable. Might convert this to to be a fully client-side Javascript app later, maybe? -
:exclamation: This implementation uses matrices, NOT quaternions. I'm aware that quaternions is far superior in every single way. In the (un)forseeable future, maybe? -
:exclamation: Frankly, My IK algorithm isn't all that great, it's just something I came up with based on what I remember back in college plus browsing through the Mathematics Stack Exchange . It might not be the best, but it's the most intuitive that I can think of. If you want something closer to the state-of-the-art, maybe checkout Unity's Fast IK or ROS IKFast . -
I believe that the idea that it's best to be kind to one another shouldn't be controversial. And I shouldn't be afraid to say that.
Contributors
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Clean Code
Robert C. Martin / Prentice Hall / 2008-8-11 / USD 49.99
Even bad code can function. But if code isn’t clean, it can bring a development organization to its knees. Every year, countless hours and significant resources are lost because of poorly written code......一起来看看 《Clean Code》 这本书的介绍吧!
