hexapod-robot-simulator

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 ☕ cups of coffee. 💕

Announcement

You might be interested in checking out my rewrite in Javascript, live at: https://hexapod.netlify.app/ , which is like 10000000x faster. If you’d like to build you’re own user interface with Node, you can download the algorithm alone as a package in the npm registry: Hexapod Kinematics Library. There is also a “fork” modified where you can use the app to control a physical hexapod robot as you can see in the gif below.

Features

STATUS	FEATURE	DESCRIPTION
🎉	Forward Kinematics	Given the angles of each joint, what does the robot look like?
🎉	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?
🎉	Uniform Movements	If all of the legs behaved the same way, how will the hexapod robot as a whole behave?
🎉	Customizability	Set the dimensions and shape of the robot’s body and legs. (6 parameters)
🎉	Usability	Control the camera view, pan, tilt, zoom, whatever.
🎉	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.
❗	Stability Check (WIP)	If we pose the robot in a particular way, will it fall over?
❗	Fast	Okay, it’s not as fast as I wanted, but when run locally, it’s okay
❗	Bug-free	Fine, right now there’s still room for improvement
❗	Well-tested	Yeah, I need to compile test cases first

Preview

Requirements

• Python 3.8.1
• Plotly Dash 1.18.1
• Plotly Dash Daq 0.5.0
• Numpy 1.19.5
• 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

Screenshots

More Information

Check the Wiki for more additional information

🤗 Contributors

• @mithi
• @philippeitis
• @mikong
• @guilyx
• @markkulube