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Mithi's Hexapod Robot Simulator
| STATUS |
FEATURE |
DESCRIPTION |
|
:tada:
|
Forward Kinematics |
Given the angles of each joint, what does the robot look like? |
|
:tada:
|
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? |
|
:tada:
|
Uniform Movements |
If all of the legs behaved the same way, how will the hexapod robot as a whole behave? |
|
:tada:
|
Customizability |
Set the dimensions and shape of the robot's body and legs. (6 parameters) |
|
:tada:
|
Usability |
Control the camera view, pan, tilt, zoom, whatever. |
|
:tada:
|
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. |
|
:exclamation:
|
Stability Check (WIP) |
If we pose the robot in a particular way, will it fall over? |
|
:exclamation:
|
Fast |
Okay, it's not as fast as I wanted, but when run locally, it's okay |
|
:exclamation:
|
Bug-free |
Fine, right now there's still room for improvement |
|
:exclamation:
|
Well-tested |
Yeah, I need to compile test cases first |
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Preview
️
Requirements
Run
$ python index.py
Running on http://127.0.0.1:8050/
:warning:
Known Issues
️
Conventions and Algorithms
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Screenshots
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Notes
-
: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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