A simple browser-based hexapod robot simulator built from first principles

栏目: IT技术 · 发布时间: 4年前

️ 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:

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

️ Preview

️ 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

:exclamation: Priorities
:exclamation: Help Wanted
:exclamation: Bugs
:exclamation: All

️ Conventions and Algorithms

Definitions
- Linkage
- VirtualHexapod
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
- find_if_might_twist
- find_twist_frame

️ Screenshots

️ 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.

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