Hexapod_Botolomaeus

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Hexapod_Botolomaeus

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University Project: Design of a six-legged Hexapod with 3 DoF at each leg. Communication and control implementation on an Arduino 2560.

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# Hexapod Botolomaeus

## Description

Project in collaboration of five students to successfully design and develop a six-legged robot (Hexapod), controllable through an Android device.

## Video

[![Hexapod Botolomaeus Video](https://img.youtube.com/vi/FhSNV5rlMkg/0.jpg)](https://www.youtube.com/watch?v=FhSNV5rlMkg "Hexapod Botolomaeus Video")

## Version

v1.0.0
All basic functions are implemented. Robot can be controlled by an android device. It can move in X, Y direction and rotate around the Z axis.

## Hardware Specification

Hardware that is being used:

-Dynamixel AX-18A (http://emanual.robotis.com/docs/en/dxl/ax/ax-18a/)  
-Arduino 2560

## Additional Software Requirements

### Additionally Files

Servo_EEPROM_INIT/Servo_EEPROM_INIT.ino  -->File is used for the very first initialization of the servos e.g. setting ID's.

### Libraries needed

https://github.com/ThingType/AX-12A-servo-library

## Architecture

Rough class structure from 16.06.2018

![class_diagram](https://raw.githubusercontent.com/MechaDuck/Hexapod_Botolomaeus/master/class_diagram.PNG)

## Team References

Team member:   
Hardware design and manufacturing:   
    Jan Homann, Joel Seelinger, Sameer Al-Qadasi   
Software design and implementation:   
    Tomislav Romic, Philine Stark, Henri Hildebrand

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