Hexapod_Summer_Project_2025

Overview

This repository contains the code and documentation for the Hexapod Summer Project 2025. The goal of this project is to build and program a hexapod robot with various gait control algorithms, inverse kinematics, and forward kinematics solutions. The robot will be powered by a Teensy microcontroller.

Project Structure

• 3_GAITS.ino: Arduino code that contains three distinct gaits for the hexapod.
• Forward_kinematics.py: Python script for solving the forward kinematics of the hexapod's leg movement.
• Teensy_code.ino: Teensy-based microcontroller code for controlling the hexapod's motion.
• hexapod_ik_solution.py: Python script that calculates the inverse kinematics solution for the hexapod.
• README.md: This file, providing an overview of the project.

Requirements

To run this project, the following software and hardware are required:

• Hardware:
  • Teensy microcontroller
  • Hexapod frame with servos
  • Power supply for the robot
• Software:
  • Arduino IDE for uploading code to the Teensy
  • Python 3.x for running the kinematics scripts
  • Required Python libraries (e.g., numpy)

Getting Started

1. Clone the repository

git clone https://github.com/RoboticsClubIITK/Hexapod_Summer_Project_2025.git
cd Hexapod_Summer_Project_2025