SPINDER: an open-source 18-DoF hexapod robot with hierarchical central pattern generator control and analytic inverse kinematics
This paper presents SPINDER, a compact 18-DoF hexapod robot designed for reproducible bio-inspired locomotion research. The platform integrates a time-of-flight depth camera, six-axis inertial measurement unit, and per-foot contact switches, with computation split between an ARM-based single-board computer and a real-time microcontroller driving Dynamixel actuators. We derive a closed-form inverse kinematics solver for the yaw-pitch-pitch leg configuration that enforces works
Researchers have introduced SPINDER, a new 18-degree-of-freedom hexapod robot engineered to advance bio-inspired locomotion studies. The platform utilizes a combination of an ARM-based computer and a real-time microcontroller to manage its complex movement, supported by a suite of sensors including depth cameras and inertial measurement units. A key innovation is the development of a closed-form inverse kinematics solver that ensures stable, real-time leg positioning while successfully navigating kinematic singularities. The robot employs a hierarchical central pattern generator to coordinate various gaits, such as tripod and wave patterns, allowing for seamless transitions during operation. Experimental trials confirmed the platform's ability to traverse uneven terrain with high precision and minimal body instability. To foster further academic development, the team plans to provide open-source access to the mechanical blueprints, software, and kinematic models.
The release of this open-source platform provides a standardized, reproducible tool for researchers to study complex legged locomotion and improve robotic stability in challenging environments.
📌 Kaynak
Bu özet naturecom kaynağından otomatik derlenmiştir. Tamamı için orijinal habere gidin.
Orijinal haberi oku →