A low-cost (~$60) robot designed for UC Berkeley’s Introduction to Prototyping & Fabrication course. Implemented based on RHex: A Simple and Highly Mobile Hexapod Robot from Saranli et al.
Mechanical design was done with an emphasis on simplicity: we only needed to fabricate 5 unique parts!
The chassis is constructed out of three pieces of 1/4” plywood, and the motorized leg modules are printed in ABS using a consumer-grade 3D printer. For grip, the current version of the legs are lined with 5mm polyurethane timing belt (teeth outwards).
Each leg module contains a custom 14-bit absolute encoder board (linked below), which communicates to a central microcontroller over I2C.
A central control PCB was designed to co-locate:
- three TB6612 dual h-bridge driver ICs (for driving 6 individual leg motors)
- an ADXL345 3-axis accelerometer for orientation detection
- an MP1584 5V/3A buck converter (for powering peripherals)
- an N-fet-based electronic power switch
- I2C output connectors for encoders
- 10-bit filtered battery voltage measurement
- Arduino Nano microcontroller
All of the code for our robot was built around the Arduino platform in C++.
It’s made of a few main components:
- an open-loop gait controller for generating synchronized leg trajectories in an alternating tripod gait
- six local joint controllers: these are simple PD loops w/ velocity feedforwards
- a BLE interface for remote monitoring and teleoperation
- a set of dynamically configurable settings which can be pushed to & pulled from the EEPROM (primarily for control loop tuning on the fly)
Source code and design files: