A Raspberry Pi Hexapod Robot!

Prepared for FEU Diliman Feb 24, 2016, Campus DevCon

Arcbotics Hexy- 19 DOF- open-source, 5mm acrylic- funded on kickstarter, 2012- 168k+ USD 860+ backers,- 250 USD, 1/10th usual cost

Hexy Modifications- motivations- hardware- software

Hexy Modifications- Metal Gear Servo - Pi Zero- Drive Servo via I2C- Code from scratch!

Clean Code in a Hexapod Robot….

Original Code: github.com/ArcBotics/PoMoCo

My Code (WIP): github.com/mithi/hexy

Raspberry Pi Zero - 1 Ghz Single Core Processor- 60 mm x 30 mm x 5mm- 5 USD only <3

Do all processing on board.No need for an external computer or bluetooth.

Adafruit 16-Channel 12-bit PWM/Servo Driver - I2C interface - PCA9685

GaitsLimb Movement

Stance Phase | Power Stroke- leg is on the ground where it supports and

propels the body. - leg retracts or moves towards the rear of

the body

Swing Phase | Return Stroke- leg lifts and swings to the starting position

of the next stance phase- leg protracts or moves towards the front of

the body

Hexy Video.

Thank you for listening.