Droid Project: Introduction

The Droid project, is a project where I am attempting to design and build a hexapod robot from scratch. Given, that I have no prior experience dealing with the forward and inverse kinematics problems (FK & IK) that need to be solved, I resolved to using Cinder and ImGUI to create a simulation of the hexapod first.

So far, I am still in the early stages of the project, but I have come up with a simulation for a single leg of the hexapod. With much help from Oscar Liang, and his informative blog series on the kinematics of hexapods, I managed to get the IK for a single leg to work.

Now, the next part would be to get the full body IK to work, and figure out how to implement basic movements. And then we can finally take a look at the hardware we have to work with :’)